Merge remote-tracking branch 'commaai/openpilot/master' into ioniq-6-hda2-long

fix useParams

.devcontainer/.gitignore

@@ -1 +1,3 @@
-.Xauthority
+.Xauthority
+.env
+.host/

.devcontainer/Dockerfile

@@ -1,6 +1,10 @@
 FROM ghcr.io/commaai/openpilot-base:latest
 
-# remove gitconfig if exists, since its gonna be replaced by host one
-RUN rm -f /root/.gitconfig
-RUN apt update && apt install -y vim net-tools usbutils htop ripgrep
+RUN apt update && apt install -y vim net-tools usbutils htop ripgrep tmux
 RUN pip install ipython jupyter jupyterlab
+
+USER batman
+
+RUN cd $HOME && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.tmux.conf && \
+    curl -O https://raw.githubusercontent.com/commaai/agnos-builder/master/userspace/home/.vimrc

.devcontainer/container_post_create.sh

@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+
+TARGET_USER=batman
+source .devcontainer/.host/.env
+
+# override display flag for mac
+if [[ $HOST_OS == darwin ]]; then
+  echo "Setting up DISPLAY override for macOS..."
+  cat <<EOF >> /home/$TARGET_USER/.bashrc
+if [ -n "\$DISPLAY" ]; then
+  DISPLAY_NUM=\$(echo "\$DISPLAY" | awk -F: '{print \$NF}')
+  export DISPLAY=host.docker.internal:\$DISPLAY_NUM
+fi
+EOF
+fi
+
+# These lines are temporary, to remain backwards compatible with old devcontainers
+# that were running as root and therefore had their caches written as root
+sudo chown -R $TARGET_USER: /tmp/scons_cache
+sudo chown -R $TARGET_USER: /tmp/comma_download_cache

.devcontainer/container_post_start.sh

@@ -0,0 +1,7 @@
+#!/usr/bin/env bash
+
+# setup safe directories for submodules
+SUBMODULE_DIRS=$(git config --file .gitmodules --get-regexp path | awk '{ print $2 }')
+for DIR in $SUBMODULE_DIRS; do 
+  git config --global --add safe.directory "$PWD/$DIR"
+done

.devcontainer/devcontainer.json

@@ -3,23 +3,36 @@
   "build": {
     "dockerfile": "Dockerfile"
   },
-  "postCreateCommand": "bash -c 'if [[ $DISPLAY == *xquartz* ]]; then echo \"export DISPLAY=host.docker.internal:0\" >> /root/.bashrc; fi'",
-  "postStartCommand": "git config --file .gitmodules --get-regexp path | awk '{ print $2 }' | xargs -I{} git config --global --add safe.directory \"$PWD/{}\"",
-  "initializeCommand": ".devcontainer/setup_host.sh",
+  "postCreateCommand": ".devcontainer/container_post_create.sh",
+  "postStartCommand": ".devcontainer/container_post_start.sh",
+  "initializeCommand": ".devcontainer/host_setup.sh",
   "privileged": true,
   "containerEnv": {
     "DISPLAY": "${localEnv:DISPLAY}",
     "PYTHONPATH": "${containerWorkspaceFolder}",
+    "TERM": "xterm-256color",
+    "CARLA_HOST": "host.docker.internal",
     "force_color_prompt": "1"
   },
   "runArgs": [
     "--volume=/tmp/.X11-unix:/tmp/.X11-unix",
-    "--volume=${localWorkspaceFolder}/.devcontainer/.Xauthority:/root/.Xauthority",
-    "--volume=${localEnv:HOME}/.comma:/root/.comma",
+    "--volume=${localWorkspaceFolder}/.devcontainer/.host/.Xauthority:/home/batman/.Xauthority",
+    "--volume=${localEnv:HOME}/.comma:/home/batman/.comma",
     "--volume=/tmp/comma_download_cache:/tmp/comma_download_cache",
     "--volume=/tmp/devcontainer_scons_cache:/tmp/scons_cache",
-    "--shm-size=1G"
+    "--shm-size=1G",
+    "--add-host=host.docker.internal:host-gateway" // required to use host.docker.internal on linux
   ],
+  "features": {
+    "ghcr.io/devcontainers/features/common-utils:2": {
+      "installZsh": false,
+      "installOhMyZsh": false,
+      "upgradePackages": false,
+      "username": "batman"
+    }
+  },
+  "containerUser": "root",
+  "remoteUser": "batman",
   "customizations": {
     "vscode": {
       "extensions": [

.devcontainer/host_setup.sh

@@ -0,0 +1,29 @@
+#!/usr/bin/env bash
+
+# pull base image
+if [[ -z $USE_LOCAL_IMAGE ]]; then
+  docker pull ghcr.io/commaai/openpilot-base:latest
+fi
+
+# setup .host dir
+mkdir -p .devcontainer/.host
+
+# setup links to Xauthority
+XAUTHORITY_LINK=".devcontainer/.host/.Xauthority"
+rm -f $XAUTHORITY_LINK
+if [[ -z $XAUTHORITY ]]; then
+  echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
+  if ! [[ -f $HOME/.Xauthority ]]; then
+    echo "~/.XAuthority file does not exist. GUI tools may not work properly."
+    touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
+  else
+    ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
+  fi
+else
+    ln -sf $XAUTHORITY $XAUTHORITY_LINK
+fi
+
+# setup host env file
+HOST_INFO_FILE=".devcontainer/.host/.env"
+SYSTEM=$(uname -s | tr '[:upper:]' '[:lower:]')
+echo "HOST_OS=\"$SYSTEM\"" > $HOST_INFO_FILE

.devcontainer/setup_host.sh

@@ -1,16 +0,0 @@
-#!/usr/bin/env bash
-
-# setup links to Xauthority
-XAUTHORITY_LINK=".devcontainer/.Xauthority"
-rm -f $XAUTHORITY_LINK
-if [[ -z $XAUTHORITY ]]; then
-    echo "XAUTHORITY not set. Fallback to ~/.Xauthority ..."
-    if ! [[ -f $HOME/.Xauthority ]]; then
-        echo "~/.XAuthority file does not exist. GUI tools may not work properly."
-        touch $XAUTHORITY_LINK # dummy file to satisfy container volume mount
-    else
-        ln -sf $HOME/.Xauthority $XAUTHORITY_LINK
-    fi
-else
-    ln -sf $XAUTHORITY $XAUTHORITY_LINK
-fi

.gitattributes

@@ -1,3 +1,16 @@
 *.dlc filter=lfs diff=lfs merge=lfs -text
 *.onnx filter=lfs diff=lfs merge=lfs -text
 selfdrive/car/tests/test_models_segs.txt filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/fonts/*.ttf filter=lfs diff=lfs merge=lfs -text
+selfdrive/assets/training/*.png filter=lfs diff=lfs merge=lfs -text
+system/hardware/tici/updater filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/spinner_larch64 filter=lfs diff=lfs merge=lfs -text
+selfdrive/ui/qt/text_larch64 filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.a filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.so filter=lfs diff=lfs merge=lfs -text
+third_party/**/*.dylib filter=lfs diff=lfs merge=lfs -text
+third_party/acados/*/t_renderer filter=lfs diff=lfs merge=lfs -text
+third_party/bootstrap/bootstrap-icons.svg filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lrelease filter=lfs diff=lfs merge=lfs -text
+third_party/qt5/larch64/bin/lupdate filter=lfs diff=lfs merge=lfs -text
+third_party/catch2/include/catch2/catch.hpp filter=lfs diff=lfs merge=lfs -text

.github/labeler.yaml

@@ -0,0 +1,61 @@
+CI / testing:
+  - all:
+    - changed-files: ['.github/**']
+  - all:
+    - changed-files: ['**/test_*']
+
+car: 
+  - all:
+    - changed-files: ['selfdrive/car/**']
+
+body:
+  - all:
+    - changed-files: ['selfdrive/car/body/*']
+chrysler:
+  - all:
+    - changed-files: ['selfdrive/car/chrysler/*']
+ford: 
+  - all:
+    - changed-files: ['selfdrive/car/ford/*']
+gm: 
+  - all:
+    - changed-files: ['selfdrive/car/gm/*']
+honda: 
+  - all:
+    - changed-files: ['selfdrive/car/honda/*']
+hyundai: 
+  - all:
+    - changed-files: ['selfdrive/car/hyundai/*']
+mazda: 
+  - all:
+    - changed-files: ['selfdrive/car/mazda/*']
+nissan: 
+  - all:
+    - changed-files: ['selfdrive/car/nissan/*']
+subaru: 
+  - all:
+    - changed-files: ['selfdrive/car/subaru/*']
+tesla: 
+  - all:
+    - changed-files: ['selfdrive/car/tesla/*']
+toyota: 
+  - all:
+    - changed-files: ['selfdrive/car/toyota/*']
+volkswagen: 
+  - all:
+    - changed-files: ['selfdrive/car/volkswagen/*']
+
+simulation:
+  - all:
+    - changed-files: ['tools/sim/**']
+ui:
+  - all:
+    - changed-files: ['selfdrive/ui/**']
+tools: 
+  - all:
+    - changed-files: ['tools/**']
+
+multilanguage:
+  - all:
+    - changed-files: ['selfdrive/ui/translations/**']
+

.github/workflows/badges.yaml

@@ -18,7 +18,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Push badges
       run: |
         ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/ui/translations/create_badges.py"

.github/workflows/compile-openpilot/action.yaml

@@ -0,0 +1,27 @@
+name: 'compile openpilot'
+
+inputs:
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons'
+
+runs:
+  using: "composite"
+  steps:
+    - shell: bash
+      name: Build openpilot with all flags
+      run: |
+        ${{ env.RUN }} "scons -j$(nproc)"
+        ${{ env.RUN }} "release/check-dirty.sh"
+    - shell: bash
+      name: Cleanup scons cache and rebuild
+      run: |
+          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
+                          scons -j$(nproc) --cache-populate"
+    - name: Save scons cache
+      uses: actions/cache/save@v3
+      if: github.ref == 'refs/heads/master'
+      with:
+        path: .ci_cache/scons_cache
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}

.github/workflows/labeler.yaml

@@ -0,0 +1,18 @@
+name: "Pull Request Labeler"
+on:
+  pull_request_target:
+
+jobs:
+  labeler:
+    permissions:
+      contents: read
+      pull-requests: write
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - uses: actions/labeler@v5.0.0-alpha.1
+      with:
+        dot: true
+        configuration-path: .github/labeler.yaml

.github/workflows/release.yaml

@@ -1,7 +1,7 @@
 name: release
 on:
   schedule:
-    - cron: '0 * * * *'
+    - cron: '0 10 * * *'
   workflow_dispatch:
 
 jobs:

.github/workflows/selfdrive_tests.yaml

@@ -38,10 +38,11 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Build devel
       timeout-minutes: 1
       run: TARGET_DIR=$STRIPPED_DIR release/build_devel.sh
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Check submodules
       if: github.ref == 'refs/heads/master' && github.repository == 'commaai/openpilot'
       timeout-minutes: 1
@@ -65,32 +66,28 @@ jobs:
         cp pyproject.toml $STRIPPED_DIR
         cp poetry.lock $STRIPPED_DIR
         cd $STRIPPED_DIR
-        ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
+        ${{ env.RUN }} "unset PYTHONWARNINGS && SKIP=check-added-large-files pre-commit run --all"
 
-  build_all:
-    name: build all
-    runs-on: ubuntu-20.04
+  build:
+    strategy:
+      matrix:
+        arch: ${{ fromJson(
+           ((github.repository == 'commaai/openpilot') &&
+              ((github.event_name != 'pull_request') || 
+               (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
-    - name: Build openpilot with all flags
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 12 || 30) }} # allow more time when we missed the scons cache
-      run: |
-        ${{ env.RUN }} "scons -j$(nproc)"
-        ${{ env.RUN }} "release/check-dirty.sh"
-    - name: Cleanup scons cache and rebuild
-      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 2 || 30) }} # allow more time when we missed the scons cache
-      run: |
-          ${{ env.RUN }} "rm -rf /tmp/scons_cache/* && \
-                          scons -j$(nproc) --cache-populate"
-    - name: Save scons cache
-      uses: actions/cache/save@v3
-      if: github.ref == 'refs/heads/master'
+    - uses: ./.github/workflows/setup-with-retry
       with:
-        path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
+        cache_key_prefix: scons_${{ matrix.arch }}
+    - uses: ./.github/workflows/compile-openpilot
+      timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 15 || 30) }} # allow more time when we missed the scons cache
+      with:
+        cache_key_prefix: scons_${{ matrix.arch }}
 
   build_mac:
     name: build macos
@@ -99,6 +96,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - run: git lfs pull
     - name: Determine pre-existing Homebrew packages
       if: steps.dependency-cache.outputs.cache-hit != 'true'
       run: |
@@ -144,7 +142,7 @@ jobs:
         fi
     - name: Install dependencies
       if: steps.dependency-cache.outputs.cache-hit != 'true'
-      run: ./tools/mac_setup.sh
+      run: SKIP_PROMPT=1 ./tools/mac_setup.sh
       env:
         # package install has DeprecationWarnings
         PYTHONWARNINGS: default
@@ -186,7 +184,10 @@ jobs:
 
   docker_push:
     name: docker push
-    runs-on: ubuntu-20.04
+    strategy:
+      matrix:
+        arch: ${{ fromJson( (github.repository == 'commaai/openpilot') && '["x86_64", "aarch64"]' || '["x86_64"]' ) }}
+    runs-on: ${{ (matrix.arch == 'aarch64') && 'buildjet-2vcpu-ubuntu-2204-arm' || 'ubuntu-20.04' }}
     if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
     steps:
     - uses: actions/checkout@v3
@@ -195,14 +196,34 @@ jobs:
     - name: Setup to push to repo
       run: |
         echo "PUSH_IMAGE=true" >> "$GITHUB_ENV"
+        echo "TARGET_ARCHITECTURE=${{ matrix.arch }}" >> "$GITHUB_ENV"
         $DOCKER_LOGIN
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
       with:
-        git-lfs: false
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Build and push CL Docker image
+      if: matrix.arch == 'x86_64'
       run: |
+        unset TARGET_ARCHITECTURE
         eval "$BUILD_CL"
 
+  docker_push_multiarch:
+    name: docker push multiarch tag
+    runs-on: ubuntu-20.04
+    if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
+    needs: [docker_push]
+    steps:
+    - uses: actions/checkout@v3
+      with:
+        submodules: false
+    - name: Setup docker
+      run: |
+        $DOCKER_LOGIN
+    - name: Merge x64 and arm64 tags
+      run: |
+        export PUSH_IMAGE=true
+        selfdrive/test/docker_tag_multiarch.sh base x86_64 aarch64
+
   static_analysis:
     name: static analysis
     runs-on: ubuntu-20.04
@@ -210,8 +231,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: pre-commit
       timeout-minutes: 4
       run: ${{ env.RUN }} "unset PYTHONWARNINGS && pre-commit run --all"
@@ -223,7 +243,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run valgrind
@@ -241,26 +261,17 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: ${{ ((steps.restore-scons-cache.outputs.cache-hit == 'true') && 10 || 30) }} # allow more time when we missed the scons cache
       run: ${{ env.RUN }} "scons -j$(nproc)"
     - name: Run unit tests
-      timeout-minutes: 40
+      timeout-minutes: 15
       run: |
-        ${{ env.RUN }} "export SKIP_LONG_TESTS=1 && \
-                        $PYTEST --rootdir . -c selfdrive/test/pytest-ci.ini && \
-                        selfdrive/locationd/test/_test_locationd_lib.py && \
-                        ./system/ubloxd/tests/test_glonass_runner && \
+        ${{ env.RUN }} "$PYTEST -n auto --dist=loadscope --timeout 30 -o cpp_files=test_* -m 'not slow' && \
                         ./selfdrive/ui/tests/create_test_translations.sh && \
                         QT_QPA_PLATFORM=offscreen ./selfdrive/ui/tests/test_translations && \
                         ./selfdrive/ui/tests/test_translations.py && \
-                        ./common/tests/test_common && \
-                        ./selfdrive/boardd/tests/test_boardd_usbprotocol && \
-                        ./system/loggerd/tests/test_logger &&\
-                        ./system/proclogd/tests/test_proclog && \
-                        ./tools/replay/tests/test_replay && \
-                        ./tools/cabana/tests/test_cabana && \
                         ./system/camerad/test/ae_gray_test && \
                         ./selfdrive/test/process_replay/test_fuzzy.py"
     - name: "Upload coverage to Codecov"
@@ -268,12 +279,16 @@ jobs:
 
   process_replay:
     name: process replay
-    runs-on: ${{ ((github.event.pull_request.head.repo.full_name == 'commaai/openpilot') || (github.repository == 'commaai/openpilot')) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
+    runs-on: ${{ ((github.repository == 'commaai/openpilot') &&
+                   ((github.event_name != 'pull_request') || 
+                    (github.event.pull_request.head.repo.full_name == 'commaai/openpilot'))) && 'buildjet-8vcpu-ubuntu-2004' || 'ubuntu-20.04' }}
     steps:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
+      with:
+        docker_hub_pat: ${{ secrets.DOCKER_HUB_PAT }}
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -293,7 +308,7 @@ jobs:
       id: print-diff
       if: always()
       run: cat selfdrive/test/process_replay/diff.txt
-    - uses: actions/upload-artifact@v2
+    - uses: actions/upload-artifact@v3
       if: always()
       continue-on-error: true
       with:
@@ -313,7 +328,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base Docker image
       run: eval "$BUILD"
     - name: Build Docker image
@@ -324,7 +339,7 @@ jobs:
         ${{ env.RUN }} "scons -j$(nproc)"
     # PYTHONWARNINGS triggers a SyntaxError in onnxruntime
     - name: Run model replay with ONNX
-      timeout-minutes: 2
+      timeout-minutes: 3
       run: |
         ${{ env.RUN_CL }} "unset PYTHONWARNINGS && \
                            ONNXCPU=1 CI=1 NO_NAV=1 coverage run selfdrive/test/process_replay/model_replay.py && \
@@ -349,7 +364,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Cache test routes
       id: dependency-cache
       uses: actions/cache@v3
@@ -378,7 +393,8 @@ jobs:
         with:
           submodules: true
           ref: ${{ github.event.pull_request.base.ref }}
-      - uses: ./.github/workflows/setup
+      - run: git lfs pull
+      - uses: ./.github/workflows/setup-with-retry
       - name: Get base car info
         run: |
           ${{ env.RUN }} "scons -j$(nproc) && python selfdrive/debug/dump_car_info.py --path /tmp/openpilot_cache/base_car_info"
@@ -387,6 +403,7 @@ jobs:
         with:
           submodules: true
           path: current
+      - run: cd current && git lfs pull
       - name: Save car docs diff
         id: save_diff
         run: |

.github/workflows/setup-with-retry/action.yaml

@@ -0,0 +1,47 @@
+name: 'openpilot env setup, with retry on failure'
+
+inputs:
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: false
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: false
+    default: 'scons_x86_64'
+  sleep_time:
+    description: 'Time to sleep between retries'
+    required: false
+    default: 30
+
+runs:
+  using: "composite"
+  steps:
+    - id: setup1
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup1.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup2
+      if: steps.setup1.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      continue-on-error: true
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true
+    - if: steps.setup2.outcome == 'failure'
+      shell: bash
+      run: sleep ${{ inputs.sleep_time }}
+    - id: setup3
+      if: steps.setup2.outcome == 'failure'
+      uses: ./.github/workflows/setup
+      with:
+        docker_hub_pat: ${{ inputs.docker_hub_pat }}
+        cache_key_prefix: ${{ inputs.cache_key_prefix }}
+        is_retried: true

.github/workflows/setup/action.yaml

@@ -1,19 +1,46 @@
 name: 'openpilot env setup'
 
 inputs:
-  git_lfs:
-    description: 'Whether or not to pull the git lfs'
+  docker_hub_pat:
+    description: 'Auth token for Docker Hub, required for BuildJet jobs'
+    required: true
+    default: ''
+  cache_key_prefix:
+    description: 'Prefix for caching key'
+    required: true
+    default: 'scons_x86_64'
+  is_retried:
+    description: 'A mock param that asserts that we use the setup-with-retry instead of this action directly'
     required: false
-    default: 'true'
+    default: 'false'
 
 runs:
   using: "composite"
   steps:
+    # assert that this action is retried using the setup-with-retry
+    - shell: bash
+      if: ${{ inputs.is_retried == 'false' }}
+      run: |
+        echo "You should not run this action directly. Use setup-with-retry instead"
+        exit 1
+
     # do this after checkout to ensure our custom LFS config is used to pull from GitLab
     - shell: bash
-      if: ${{ inputs.git_lfs == 'true' }}
       run: git lfs pull
 
+    # on BuildJet runners, must be logged into DockerHub to avoid rate limiting
+    # https://buildjet.com/for-github-actions/docs/guides/docker
+    - shell: bash
+      if: ${{ contains(runner.name, 'buildjet') && inputs.docker_hub_pat == '' }}
+      run: |
+        echo "Need to set the Docker Hub PAT secret as an input to this action"
+        exit 1
+    - name: Login to Docker Hub
+      if: contains(runner.name, 'buildjet')
+      shell: bash
+      run: |
+        docker login -u adeebshihadeh -p ${{ inputs.docker_hub_pat }}
+
     # build cache
     - id: date
       shell: bash
@@ -24,10 +51,10 @@ runs:
       uses: actions/cache/restore@v3
       with:
         path: .ci_cache/scons_cache
-        key: scons-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
+        key: ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-${{ github.sha }}
         restore-keys: |
-          scons-${{ env.CACHE_COMMIT_DATE }}-
-          scons-
+          ${{ inputs.cache_key_prefix }}-${{ env.CACHE_COMMIT_DATE }}-
+          ${{ inputs.cache_key_prefix }}-
     # if we didn't get a cache hit, make the directory manually so it doesn't fail on future steps
     - id: scons-cache-setup
       shell: bash

.github/workflows/tools_tests.yaml

@@ -33,11 +33,10 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - name: Build Docker image
-      run: eval "$BUILD"
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build openpilot
       timeout-minutes: 5
-      run: ${{ env.RUN }} "scons -j$(nproc) --directory=/tmp/openpilot/cereal --minimal"
+      run: ${{ env.RUN }} "scons -j$(nproc) cereal/ common/ --minimal"
     - name: Test PlotJuggler
       timeout-minutes: 2
       run: |
@@ -52,7 +51,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
+    - uses: ./.github/workflows/setup-with-retry
     - name: Build base cl image
       run: eval "$BUILD_CL"
     - name: Setup to push to repo
@@ -72,9 +71,7 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
-    - uses: ./.github/workflows/setup
-      with:
-        git_lfs: false
+    - uses: ./.github/workflows/setup-with-retry
     - name: Setup to push to repo
       if: github.ref == 'refs/heads/master' && github.event_name != 'pull_request' && github.repository == 'commaai/openpilot'
       run: |
@@ -91,11 +88,20 @@ jobs:
     - uses: actions/checkout@v3
       with:
         submodules: true
+    - uses: ./.github/workflows/setup-with-retry
+    - name: Use local image for testing devcontainer with latest base image
+      run: |
+        echo "USE_LOCAL_IMAGE=true" >> "$GITHUB_ENV"
     - name: Setup Dev Container CLI
       run: npm install -g @devcontainers/cli
     - name: Build dev container image
       run: devcontainer build --workspace-folder .
     - name: Run dev container
-      run: devcontainer up --workspace-folder .
+      run: |
+        mkdir -p /tmp/devcontainer_scons_cache/
+        cp -r $GITHUB_WORKSPACE/.ci_cache/scons_cache/* /tmp/devcontainer_scons_cache/
+        devcontainer up --workspace-folder .
     - name: Test environment
-      run: devcontainer exec --workspace-folder . scons --dry-run
+      run: |
+        devcontainer exec --workspace-folder . scons -j$(nproc)
+        devcontainer exec --workspace-folder . pip install pip-install-test

.gitignore

@@ -48,6 +48,7 @@ selfdrive/mapd/default_speeds_by_region.json
 system/proclogd/proclogd
 selfdrive/ui/_ui
 selfdrive/ui/translations/alerts_generated.h
+selfdrive/ui/translations/tmp
 selfdrive/test/longitudinal_maneuvers/out
 selfdrive/car/tests/cars_dump
 system/camerad/camerad

.pre-commit-config.yaml

@@ -1,3 +1,4 @@
+exclude: '^(tinygrad_repo)'
 repos:
 -   repo: meta
     hooks:
@@ -9,13 +10,18 @@ repos:
     -   id: check-ast
         exclude: '^(third_party)/'
     -   id: check-json
+        exclude: '.devcontainer/devcontainer.json' # this supports JSON with comments
     -   id: check-toml
     -   id: check-xml
     -   id: check-yaml
     -   id: check-merge-conflict
     -   id: check-symlinks
+    -   id: check-executables-have-shebangs
+    -   id: check-shebang-scripts-are-executable
     -   id: check-added-large-files
-        args: ['--maxkb=100']
+        args:
+        - --maxkb=500
+        - --enforce-all
 -   repo: https://github.com/codespell-project/codespell
     rev: v2.2.5
     hooks:
@@ -35,7 +41,7 @@ repos:
         args: ['--explicit-package-bases']
         exclude: '^(third_party/)|(cereal/)|(opendbc/)|(panda/)|(laika/)|(laika_repo/)|(rednose/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)|(xx/)'
 -   repo: https://github.com/astral-sh/ruff-pre-commit
-    rev: v0.0.287
+    rev: v0.0.290
     hooks:
     -   id: ruff
         exclude: '^(third_party/)|(cereal/)|(rednose/)|(panda/)|(laika/)|(laika_repo/)|(rednose_repo/)|(tinygrad/)|(tinygrad_repo/)'
@@ -76,7 +82,10 @@ repos:
     rev: '1.6.0'
     hooks:
     -   id: poetry-check
-    -   id: poetry-lock
         name: validate poetry lock
         args:
-        - --check
+        - --lock
+-   repo: https://github.com/python-jsonschema/check-jsonschema
+    rev: 0.26.3
+    hooks:
+    -   id: check-github-workflows

Dockerfile.openpilot_base

@@ -22,18 +22,24 @@ RUN cd /tmp && \
     rm -rf arm/ && \
     rm -rf thumb/nofp thumb/v6* thumb/v8* thumb/v7+fp thumb/v7-r+fp.sp
 
+ARG USER=batman
+ARG USER_UID=1000
+RUN useradd -m -s /bin/bash -u $USER_UID $USER
+USER $USER
+
 ENV POETRY_VIRTUALENVS_CREATE=false
 ENV PYENV_VERSION=3.11.4
-ENV PYENV_ROOT="/root/.pyenv"
+ENV PYENV_ROOT="/home/$USER/pyenv"
 ENV PATH="$PYENV_ROOT/bin:$PYENV_ROOT/shims:$PATH"
 
-COPY pyproject.toml poetry.lock .python-version /tmp/
-COPY tools/install_python_dependencies.sh /tmp/tools/
+COPY --chown=$USER pyproject.toml poetry.lock .python-version /tmp/
+COPY --chown=$USER tools/install_python_dependencies.sh /tmp/tools/
 
 RUN cd /tmp && \
     tools/install_python_dependencies.sh && \
     rm -rf /tmp/* && \
-    rm -rf /root/.cache && \
+    rm -rf /home/$USER/.cache && \
     pip uninstall -y poetry
 
-RUN sudo git config --global --add safe.directory /tmp/openpilot
+USER root
+RUN sudo git config --global --add safe.directory /tmp/openpilot

Jenkinsfile

@@ -1,4 +1,4 @@
-def phone(String ip, String step_label, String cmd) {
+def device(String ip, String step_label, String cmd) {
   withCredentials([file(credentialsId: 'id_rsa', variable: 'key_file')]) {
     def ssh_cmd = """
 ssh -tt -o StrictHostKeyChecking=no -i ${key_file} 'comma@${ip}' /usr/bin/bash <<'END'
@@ -51,226 +51,186 @@ END"""
   }
 }
 
-def phone_steps(String device_type, steps) {
-  lock(resource: "", label: device_type, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
-    timeout(time: 20, unit: 'MINUTES') {
-      phone(device_ip, "git checkout", readFile("selfdrive/test/setup_device_ci.sh"),)
-      steps.each { item ->
-        phone(device_ip, item[0], item[1])
+def deviceStage(String stageName, String deviceType, List env, def steps) {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    def extra = env.collect { "export ${it}" }.join('\n');
+
+    docker.image('ghcr.io/commaai/alpine-ssh').inside('--user=root') {
+      lock(resource: "", label: deviceType, inversePrecedence: true, variable: 'device_ip', quantity: 1) {
+        timeout(time: 20, unit: 'MINUTES') {
+          device(device_ip, "git checkout", extra + "\n" + readFile("selfdrive/test/setup_device_ci.sh"))
+          steps.each { item ->
+            device(device_ip, item[0], item[1])
+          }
+        }
       }
     }
   }
 }
 
-pipeline {
-  agent none
-  environment {
-    CI = "1"
-    PYTHONWARNINGS = "error"
-    TEST_DIR = "/data/openpilot"
-    SOURCE_DIR = "/data/openpilot_source/"
-    AZURE_TOKEN = credentials('azure_token')
-    MAPBOX_TOKEN = credentials('mapbox_token')
+def pcStage(String stageName, Closure body) {
+  node {
+  stage(stageName) {
+    if (currentBuild.result != null) {
+        return
+    }
+
+    checkout scm
+
+    def dockerArgs = '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache -v /tmp/scons_cache:/tmp/scons_cache';
+    docker.build("openpilot-base:build-${env.GIT_COMMIT}", "-f Dockerfile.openpilot_base .").inside(dockerArgs) {
+      timeout(time: 20, unit: 'MINUTES') {
+        try {
+          sh "git config --global --add safe.directory '*'"
+          sh "git submodule update --init --recursive"
+          sh "git lfs pull"
+          body()
+        } finally {
+          sh "rm -rf ${env.WORKSPACE}/* || true"
+          sh "rm -rf .* || true"
+        }
+      }
+    }
   }
-  options {
-    timeout(time: 3, unit: 'HOURS')
-    disableConcurrentBuilds(abortPrevious: env.BRANCH_NAME != 'master')
-  }
-
-  stages {
-    stage('build release3-staging') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'devel-staging'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('build nightly') {
-      agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-      when {
-        branch 'master-ci'
-      }
-      steps {
-        phone_steps("tici-needs-can", [
-          ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
-        ])
-      }
-    }
-
-    stage('openpilot tests') {
-      when {
-        not {
-          anyOf {
-            branch 'master-ci'; branch 'devel'; branch 'devel-staging';
-            branch 'release3'; branch 'release3-staging'; branch 'dashcam3'; branch 'dashcam3-staging';
-            branch 'testing-closet*'; branch 'hotfix-*'
-          }
-        }
-      }
-
-      parallel {
-
-        /*
-        stage('simulator') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.sim_nvidia'
-              dir 'tools/sim'
-              args '--user=root'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --recursive"
-            sh "git lfs pull"
-            lock(resource: "", label: "simulator", inversePrecedence: true, quantity: 1) {
-              sh "${WORKSPACE}/tools/sim/build_container.sh"
-              sh "DETACH=1 ${WORKSPACE}/tools/sim/start_carla.sh"
-              sh "${WORKSPACE}/tools/sim/start_openpilot_docker.sh"
-            }
-          }
-
-          post {
-            always {
-              sh "docker kill carla_sim || true"
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-        */
-
-        stage('PC tests') {
-          agent {
-            dockerfile {
-              filename 'Dockerfile.openpilot_base'
-              args '--user=root -v /tmp/comma_download_cache:/tmp/comma_download_cache'
-            }
-          }
-          steps {
-            sh "git config --global --add safe.directory '*'"
-            sh "git submodule update --init --depth=1 --recursive"
-            sh "git lfs pull"
-            // tests that our build system's dependencies are configured properly, needs a machine with lots of cores
-            sh "scons --clean && scons --no-cache --random -j42"
-            sh "INTERNAL_SEG_CNT=500 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
-                pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
-            sh "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
-          }
-
-          post {
-            always {
-              sh "rm -rf ${WORKSPACE}/* || true"
-              sh "rm -rf .* || true"
-            }
-          }
-        }
-
-        stage('tizi-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tizi", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-              ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
-              ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
-              ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
-            ])
-          }
-        }
-
-        stage('build') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          environment {
-            R3_PUSH = "${env.BRANCH_NAME == 'master' ? '1' : ' '}"
-          }
-          steps {
-            phone_steps("tici-needs-can", [
-              ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["check dirty", "release/check-dirty.sh"],
-              ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
-              ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
-            ])
-          }
-        }
-
-        stage('loopback-tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-loopback", [
-              ["build openpilot", "cd selfdrive/manager && ./build.py"],
-              ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
-            ])
-          }
-        }
-
-        stage('HW + Unit Tests') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-common", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
-              ["test power draw", "pytest system/hardware/tici/tests/test_power_draw.py"],
-              ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
-              ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
-              ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
-              ["test nav", "pytest selfdrive/navd/tests/"],
-            ])
-          }
-        }
-
-        stage('camerad') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-ar0231", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-            phone_steps("tici-ox03c10", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test camerad", "pytest system/camerad/test/test_camerad.py"],
-              ["test exposure", "pytest system/camerad/test/test_exposure.py"],
-            ])
-          }
-        }
-
-        stage('sensord') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-lsmc", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-            phone_steps("tici-bmx-lsm", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
-            ])
-          }
-        }
-
-        stage('replay') {
-          agent { docker { image 'ghcr.io/commaai/alpine-ssh'; args '--user=root' } }
-          steps {
-            phone_steps("tici-replay", [
-              ["build", "cd selfdrive/manager && ./build.py"],
-              ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
-            ])
-          }
-        }
-
-      }
-    }
-
   }
 }
+
+def setupCredentials() {
+  withCredentials([
+    string(credentialsId: 'azure_token', variable: 'AZURE_TOKEN'),
+    string(credentialsId: 'mapbox_token', variable: 'MAPBOX_TOKEN')
+  ]) {
+    env.AZURE_TOKEN = "${AZURE_TOKEN}"
+    env.MAPBOX_TOKEN = "${MAPBOX_TOKEN}"
+  }
+}
+
+node {
+  env.CI = "1"
+  env.PYTHONWARNINGS = "error"
+  env.TEST_DIR = "/data/openpilot"
+  env.SOURCE_DIR = "/data/openpilot_source/"
+  setupCredentials()
+
+  env.GIT_BRANCH = checkout(scm).GIT_BRANCH
+  env.GIT_COMMIT = checkout(scm).GIT_COMMIT
+
+  def excludeBranches = ['master-ci', 'devel', 'devel-staging', 'release3', 'release3-staging',
+                         'dashcam3', 'dashcam3-staging', 'testing-closet*', 'hotfix-*']
+  def excludeRegex = excludeBranches.join('|').replaceAll('\\*', '.*')
+
+  if (env.BRANCH_NAME != 'master') {
+    properties([
+        disableConcurrentBuilds(abortPrevious: true)
+    ])
+  }
+
+  try {
+    if (env.BRANCH_NAME == 'devel-staging') {
+      deviceStage("build release3-staging", "tici-needs-can", [], [
+        ["build release3-staging & dashcam3-staging", "RELEASE_BRANCH=release3-staging DASHCAM_BRANCH=dashcam3-staging $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (env.BRANCH_NAME == 'master-ci') {
+      deviceStage("build nightly", "tici-needs-can", [], [
+        ["build nightly", "RELEASE_BRANCH=nightly $SOURCE_DIR/release/build_release.sh"],
+      ])
+    }
+
+    if (!env.BRANCH_NAME.matches(excludeRegex)) {
+    parallel (
+      // tici tests
+      'onroad tests': {
+        deviceStage("onroad", "tici-needs-can", ["SKIP_COPY=1"], [
+          ["build master-ci", "cd $SOURCE_DIR/release && TARGET_DIR=$TEST_DIR ./build_devel.sh"],
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["check dirty", "release/check-dirty.sh"],
+          ["onroad tests", "cd selfdrive/test/ && ./test_onroad.py"],
+          ["time to onroad", "cd selfdrive/test/ && pytest test_time_to_onroad.py"],
+        ])
+      },
+      'HW + Unit Tests': {
+        deviceStage("tici", "tici-common", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test power draw", "./system/hardware/tici/tests/test_power_draw.py"],
+          ["test encoder", "LD_LIBRARY_PATH=/usr/local/lib pytest system/loggerd/tests/test_encoder.py"],
+          ["test pigeond", "pytest system/sensord/tests/test_pigeond.py"],
+          ["test manager", "pytest selfdrive/manager/test/test_manager.py"],
+          ["test nav", "pytest selfdrive/navd/tests/"],
+        ])
+      },
+      'loopback': {
+        deviceStage("tici", "tici-loopback", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+        ])
+      },
+      'camerad': {
+        deviceStage("AR0231", "tici-ar0231", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+        deviceStage("OX03C10", "tici-ox03c10", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test camerad", "pytest system/camerad/test/test_camerad.py"],
+          ["test exposure", "pytest system/camerad/test/test_exposure.py"],
+        ])
+      },
+      'sensord': {
+        deviceStage("LSM + MMC", "tici-lsmc", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+        deviceStage("BMX + LSM", "tici-bmx-lsm", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["test sensord", "cd system/sensord/tests && pytest test_sensord.py"],
+        ])
+      },
+      'replay': {
+        deviceStage("tici", "tici-replay", ["UNSAFE=1"], [
+          ["build", "cd selfdrive/manager && ./build.py"],
+          ["model replay", "cd selfdrive/test/process_replay && ./model_replay.py"],
+        ])
+      },
+      'tizi': {
+        deviceStage("tizi", "tizi", ["UNSAFE=1"], [
+          ["build openpilot", "cd selfdrive/manager && ./build.py"],
+          ["test boardd loopback", "SINGLE_PANDA=1 pytest selfdrive/boardd/tests/test_boardd_loopback.py"],
+          ["test pandad", "pytest selfdrive/boardd/tests/test_pandad.py"],
+          ["test amp", "pytest system/hardware/tici/tests/test_amplifier.py"],
+          ["test hw", "pytest system/hardware/tici/tests/test_hardware.py"],
+          ["test rawgpsd", "pytest system/sensord/rawgps/test_rawgps.py"],
+        ])
+      },
+
+      // *** PC tests ***
+      'PC tests': {
+        pcStage("PC tests") {
+          // tests that our build system's dependencies are configured properly,
+          // needs a machine with lots of cores
+          sh label: "test multi-threaded build", script: "scons --no-cache --random -j42"
+        }
+      },
+      'car tests': {
+        pcStage("car tests") {
+          sh "scons -j30"
+          sh label: "test_models.py", script: "INTERNAL_SEG_CNT=250 INTERNAL_SEG_LIST=selfdrive/car/tests/test_models_segs.txt FILEREADER_CACHE=1 \
+              pytest -n42 --dist=loadscope selfdrive/car/tests/test_models.py"
+          sh label: "test_car_interfaces.py", script: "MAX_EXAMPLES=100 pytest -n42 selfdrive/car/tests/test_car_interfaces.py"
+        }
+      },
+
+    )
+    }
+  } catch (Exception e) {
+    currentBuild.result = 'FAILED'
+    throw e
+  }
+}

README.md

@@ -39,13 +39,17 @@ Running on a dedicated device in a car
 ------
 
 To use openpilot in a car, you need four things
-* A supported device to run this software: a [comma 3X](https://comma.ai/shop/comma-3x) or comma three.
-* This software. The setup procedure of the comma 3/3X allows the user to enter a URL for custom software.
-The URL, openpilot.comma.ai will install the release version of openpilot. To install openpilot master, you can use installer.comma.ai/commaai/master, and replacing commaai with another GitHub username can install a fork.
-* One of [the 250+ supported cars](docs/CARS.md). We support Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford and more. If your car is not supported but has adaptive cruise control and lane-keeping assist, it's likely able to run openpilot.
-* A [car harness](https://comma.ai/shop/products/car-harness) to connect to your car.
+1. **Supported Device:** A comma 3/3X. You can purchase these devices from (https://comma.ai/shop/comma-3x)
+  
+2. **Software:** The setup procedure for the comma 3/3X allows users to enter a URL for custom software.
+  To install the release version of openpilot, use the URL `openpilot.comma.ai`.
+  To install openpilot master (for more advanced users), use the URL `installer.comma.ai/commaai/master`. You can replace "commaai" with another GitHub username to install a fork.
 
-We have detailed instructions for [how to mount the device in a car](https://comma.ai/setup).
+3. **Supported Car:** Ensure that you have one of [the 250+ supported cars](docs/CARS.md). openpilot supports a wide range of car makes including Honda, Toyota, Hyundai, Nissan, Kia, Chrysler, Lexus, Acura, Audi, VW, Ford, and many more.
+  If your car is not officially listed as supported but has adaptive cruise control and lane-keeping assist, it's likely capable of running openpilot.
+  
+4. **Car Harness:** You will also need a [car harness](https://comma.ai/shop/car-harness) to connect your comma 3/3X to your car.
+  We have detailed instructions for [how to install the harness and device in a car](https://comma.ai/setup).
 
 Running on PC
 ------

RELEASES.md

@@ -1,7 +1,17 @@
-Version 0.9.5 (202X-XX-XX)
+Version 0.9.6 (2023-XX-XX)
 ========================
+* Hyundai Azera Hybrid 2020 support thanks to chanhojung and haram-KONA!
+* Hyundai Custin 2023 support thanks to sunnyhaibin and Saber422!
+* Kia Optima Hybrid 2019 support
+
+Version 0.9.5 (2023-09-27)
+========================
+* New driving model
+  * Improved navigate on openpilot performance using navigation instructions as an additional model input
+* Hyundai Azera 2022 support thanks to sunnyhaibin!
 * Hyundai Ioniq 6 2023 support thanks to sunnyhaibin, alamo3, and sshane!
 * Hyundai Kona Electric 2023 (Korean version) support thanks to sunnyhaibin and haram-KONA!
+* Kia K8 Hybrid (with HDA II) 2023 support thanks to sunnyhaibin!
 * Kia Sorento Hybrid 2023 support thanks to sunnyhaibin!
 * Lexus IS 2023 support thanks to L3R5!
 

SConstruct

@@ -244,18 +244,6 @@ def progress_function(node):
 if os.environ.get('SCONS_PROGRESS'):
   Progress(progress_function, interval=node_interval)
 
-SHARED = False
-
-# TODO: this can probably be removed
-def abspath(x):
-  if arch == 'aarch64':
-    pth = os.path.join("/data/pythonpath", x[0].path)
-    env.Depends(pth, x)
-    return File(pth)
-  else:
-    # rpath works elsewhere
-    return x[0].path.rsplit("/", 1)[1][:-3]
-
 # Cython build environment
 py_include = sysconfig.get_paths()['include']
 envCython = env.Clone()
@@ -337,34 +325,35 @@ if GetOption("clazy"):
   qt_env['ENV']['CLAZY_IGNORE_DIRS'] = qt_dirs[0]
   qt_env['ENV']['CLAZY_CHECKS'] = ','.join(checks)
 
-Export('env', 'qt_env', 'arch', 'real_arch', 'SHARED')
+Export('env', 'qt_env', 'arch', 'real_arch')
 
+# Build common module
 SConscript(['common/SConscript'])
 Import('_common', '_gpucommon')
 
-if SHARED:
-  common, gpucommon = abspath(common), abspath(gpucommon)
-else:
-  common = [_common, 'json11']
-  gpucommon = [_gpucommon]
+common = [_common, 'json11']
+gpucommon = [_gpucommon]
 
 Export('common', 'gpucommon')
 
-# cereal and messaging are shared with the system
+# Build cereal and messaging
 SConscript(['cereal/SConscript'])
-if SHARED:
-  cereal = abspath([File('cereal/libcereal_shared.so')])
-  messaging = abspath([File('cereal/libmessaging_shared.so')])
-else:
-  cereal = [File('#cereal/libcereal.a')]
-  messaging = [File('#cereal/libmessaging.a')]
-  visionipc = [File('#cereal/libvisionipc.a')]
+
+cereal = [File('#cereal/libcereal.a')]
+messaging = [File('#cereal/libmessaging.a')]
+visionipc = [File('#cereal/libvisionipc.a')]
 messaging_python = [File('#cereal/messaging/messaging_pyx.so')]
 
 Export('cereal', 'messaging', 'messaging_python', 'visionipc')
 
-# Build rednose library and ekf models
+# Build other submodules
+SConscript([
+  'body/board/SConscript',
+  'opendbc/can/SConscript',
+  'panda/SConscript',
+])
 
+# Build rednose library and ekf models
 rednose_deps = [
   "#selfdrive/locationd/models/constants.py",
   "#selfdrive/locationd/models/gnss_helpers.py",
@@ -406,15 +395,6 @@ if arch != "Darwin":
   ])
 
 # Build openpilot
-
-# build submodules
-SConscript([
-  'body/board/SConscript',
-  'cereal/SConscript',
-  'opendbc/can/SConscript',
-  'panda/SConscript',
-])
-
 SConscript(['third_party/SConscript'])
 
 SConscript(['selfdrive/boardd/SConscript'])

common/SConscript

@@ -1,9 +1,4 @@
-Import('env', 'envCython', 'arch', 'SHARED')
-
-if SHARED:
-  fxn = env.SharedLibrary
-else:
-  fxn = env.Library
+Import('env', 'envCython', 'arch')
 
 common_libs = [
   'params.cc',
@@ -18,13 +13,13 @@ common_libs = [
 if arch != "Darwin":
   common_libs.append('gpio.cc')
 
-_common = fxn('common', common_libs, LIBS="json11")
+_common = env.Library('common', common_libs, LIBS="json11")
 
 files = [
   'clutil.cc',
 ]
 
-_gpucommon = fxn('gpucommon', files)
+_gpucommon = env.Library('gpucommon', files)
 Export('_common', '_gpucommon')
 
 if GetOption('extras'):

common/params.cc

@@ -64,7 +64,9 @@ bool create_params_path(const std::string &param_path, const std::string &key_pa
 std::string ensure_params_path(const std::string &prefix, const std::string &path = {}) {
   std::string params_path = path.empty() ? Path::params() : path;
   if (!create_params_path(params_path, params_path + prefix)) {
-    throw std::runtime_error(util::string_format("Failed to ensure params path, errno=%d", errno));
+    throw std::runtime_error(util::string_format(
+        "Failed to ensure params path, errno=%d, path=%s, param_prefix=%s",
+        errno, params_path.c_str(), prefix.c_str()));
   }
   return params_path;
 }

common/params.h

@@ -15,7 +15,11 @@ enum ParamKeyType {
 
 class Params {
 public:
-  Params(const std::string &path = {});
+  explicit Params(const std::string &path = {});
+  // Not copyable.
+  Params(const Params&) = delete;
+  Params& operator=(const Params&) = delete;
+
   std::vector<std::string> allKeys() const;
   bool checkKey(const std::string &key);
   ParamKeyType getKeyType(const std::string &key);

common/params_pyx.pyx

@@ -14,7 +14,7 @@ cdef extern from "common/params.h":
     ALL
 
   cdef cppclass c_Params "Params":
-    c_Params(string) nogil
+    c_Params(string) except + nogil
     string get(string, bool) nogil
     bool getBool(string, bool) nogil
     int remove(string) nogil

common/prefix.py

@@ -2,13 +2,14 @@ import os
 import shutil
 import uuid
 
-from typing import List, Optional
+from typing import Optional
 
 from openpilot.common.params import Params
+from openpilot.system.hardware.hw import Paths
 
-class OpenpilotPrefix(object):
+class OpenpilotPrefix:
   def __init__(self, prefix: Optional[str] = None, clean_dirs_on_exit: bool = True):
-    self.prefix = prefix if prefix else str(uuid.uuid4())
+    self.prefix = prefix if prefix else str(uuid.uuid4().hex[0:15])
     self.msgq_path = os.path.join('/dev/shm', self.prefix)
     self.clean_dirs_on_exit = clean_dirs_on_exit
 
@@ -18,13 +19,17 @@ class OpenpilotPrefix(object):
       os.mkdir(self.msgq_path)
     except FileExistsError:
       pass
+    os.makedirs(Paths.log_root(), exist_ok=True)
 
     return self
 
   def __exit__(self, exc_type, exc_obj, exc_tb):
     if self.clean_dirs_on_exit:
       self.clean_dirs()
-    del os.environ['OPENPILOT_PREFIX']
+    try:
+      del os.environ['OPENPILOT_PREFIX']
+    except KeyError:
+      pass
     return False
 
   def clean_dirs(self):
@@ -33,17 +38,6 @@ class OpenpilotPrefix(object):
       shutil.rmtree(os.path.realpath(symlink_path), ignore_errors=True)
       os.remove(symlink_path)
     shutil.rmtree(self.msgq_path, ignore_errors=True)
-
-
-class DummySocket:
-  def __init__(self):
-    self.data: List[bytes] = []
-
-  def receive(self, non_blocking: bool = False) -> Optional[bytes]:
-    if non_blocking:
-      return None
-
-    return self.data.pop()
-
-  def send(self, data: bytes):
-    self.data.append(data)
+    shutil.rmtree(Paths.log_root(), ignore_errors=True)
+    shutil.rmtree(Paths.download_cache_root(), ignore_errors=True)
+    shutil.rmtree(Paths.comma_home(), ignore_errors=True)

common/swaglog.cc

@@ -20,7 +20,7 @@
 
 class SwaglogState : public LogState {
  public:
-  SwaglogState() : LogState("ipc:///tmp/logmessage") {}
+  SwaglogState() : LogState(Path::swaglog_ipc().c_str()) {}
 
   json11::Json::object ctx_j;
 

common/tests/test_params.py

@@ -1,8 +1,6 @@
 import os
 import threading
 import time
-import tempfile
-import shutil
 import uuid
 import unittest
 
@@ -10,12 +8,7 @@ from openpilot.common.params import Params, ParamKeyType, UnknownKeyName, put_no
 
 class TestParams(unittest.TestCase):
   def setUp(self):
-    self.tmpdir = tempfile.mkdtemp()
-    print("using", self.tmpdir)
-    self.params = Params(self.tmpdir)
-
-  def tearDown(self):
-    shutil.rmtree(self.tmpdir)
+    self.params = Params()
 
   def test_params_put_and_get(self):
     self.params.put("DongleId", "cb38263377b873ee")
@@ -90,19 +83,19 @@ class TestParams(unittest.TestCase):
     self.assertFalse(self.params.get_bool("IsMetric"))
 
   def test_put_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_nonblocking("CarParams", "test", self.tmpdir)
+      put_nonblocking("CarParams", "test")
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"test"
 
   def test_put_bool_non_blocking_with_get_block(self):
-    q = Params(self.tmpdir)
+    q = Params()
     def _delayed_writer():
       time.sleep(0.1)
-      put_bool_nonblocking("CarParams", True, self.tmpdir)
+      put_bool_nonblocking("CarParams", True)
     threading.Thread(target=_delayed_writer).start()
     assert q.get("CarParams") is None
     assert q.get("CarParams", True) == b"1"

common/tests/test_ratekeeper.cc

@@ -6,11 +6,18 @@
 TEST_CASE("RateKeeper") {
   float freq = GENERATE(10, 50, 100);
   RateKeeper rk("Test RateKeeper", freq);
+
+  int lags = 0;
+  int bad_keep_times = 0;
   for (int i = 0; i < freq; ++i) {
     double begin = seconds_since_boot();
     util::sleep_for(util::random_int(0, 1000.0 / freq - 1));
     bool lagged = rk.keepTime();
-    REQUIRE(std::abs(seconds_since_boot() - begin - (1 / freq)) < 1e-3);
-    REQUIRE(lagged == false);
+    lags += lagged;
+    bad_keep_times += (seconds_since_boot() - begin - (1 / freq)) > 1e-3;
   }
+
+  // need a tolerance here due to scheduling
+  REQUIRE(lags < 5);
+  REQUIRE(bad_keep_times < 5);
 }

common/tests/test_swaglog.cc

@@ -9,7 +9,6 @@
 #include "system/hardware/hw.h"
 #include "third_party/json11/json11.hpp"
 
-const char *SWAGLOG_ADDR = "ipc:///tmp/logmessage";
 std::string daemon_name = "testy";
 std::string dongle_id = "test_dongle_id";
 int LINE_NO = 0;
@@ -25,7 +24,7 @@ void log_thread(int thread_id, int msg_cnt) {
 void recv_log(int thread_cnt, int thread_msg_cnt) {
   void *zctx = zmq_ctx_new();
   void *sock = zmq_socket(zctx, ZMQ_PULL);
-  zmq_bind(sock, SWAGLOG_ADDR);
+  zmq_bind(sock, Path::swaglog_ipc().c_str());
   std::vector<int> thread_msgs(thread_cnt);
   int total_count = 0;
 

common/tests/test_util.cc

@@ -38,7 +38,8 @@ TEST_CASE("util::read_file") {
     std::string content = random_bytes(64 * 1024);
     write(fd, content.c_str(), content.size());
     std::string ret = util::read_file(filename);
-    REQUIRE(ret == content);
+    bool equal = (ret == content);
+    REQUIRE(equal);
     close(fd);
   }
   SECTION("read directory") {
@@ -108,7 +109,8 @@ TEST_CASE("util::safe_fwrite") {
   REQUIRE(ret == 0);
   ret = fclose(f);
   REQUIRE(ret == 0);
-  REQUIRE(dat == util::read_file(filename));
+  bool equal = (dat == util::read_file(filename));
+  REQUIRE(equal);
 }
 
 TEST_CASE("util::create_directories") {

common/util.h

@@ -188,9 +188,9 @@ class LogState {
   void *zctx = nullptr;
   void *sock = nullptr;
   int print_level;
-  const char* endpoint;
+  std::string endpoint;
 
-  LogState(const char* _endpoint) {
+  LogState(std::string _endpoint) {
     endpoint = _endpoint;
   }
 
@@ -202,7 +202,7 @@ class LogState {
     int timeout = 100;
     zmq_setsockopt(sock, ZMQ_LINGER, &timeout, sizeof(timeout));
 
-    zmq_connect(sock, endpoint);
+    zmq_connect(sock, endpoint.c_str());
     initialized = true;
   }
 

common/version.h

@@ -1 +1 @@
-#define COMMA_VERSION "0.9.5"
+#define COMMA_VERSION "0.9.6"

conftest.py

@@ -0,0 +1,10 @@
+import pytest
+
+from openpilot.common.prefix import OpenpilotPrefix
+
+
+@pytest.fixture(scope="function", autouse=True)
+def global_setup_and_teardown():
+  # setup a clean environment for each test
+  with OpenpilotPrefix():
+    yield

docs/CARS.md

@@ -4,7 +4,7 @@
 
 A supported vehicle is one that just works when you install a comma device. All supported cars provide a better experience than any stock system. Supported vehicles reference the US market unless otherwise specified.
 
-# 260 Supported Cars
+# 265 Supported Cars
 
 |Make|Model|Supported Package|ACC|No ACC accel below|No ALC below|Steering Torque|Resume from stop|<a href="##"><img width=2000></a>Hardware Needed<br>&nbsp;|Video|
 |---|---|---|:---:|:---:|:---:|:---:|:---:|:---:|:---:|
@@ -71,6 +71,9 @@ A supported vehicle is one that just works when you install a comma device. All
 |Honda|Passport 2019-23|All|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Passport 2019-23">Buy Here</a></sub></details>||
 |Honda|Pilot 2016-22|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Pilot 2016-22">Buy Here</a></sub></details>||
 |Honda|Ridgeline 2017-23|Honda Sensing|openpilot|25 mph|12 mph|[![star](assets/icon-star-empty.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 Honda Nidec connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Honda&model=Ridgeline 2017-23">Buy Here</a></sub></details>||
+|Hyundai|Azera 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera 2022">Buy Here</a></sub></details>||
+|Hyundai|Azera Hybrid 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Azera Hybrid 2020">Buy Here</a></sub></details>||
+|Hyundai|Custin 2023|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Custin 2023">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2017-19|Smart Cruise Control (SCC)|Stock|19 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Elantra 2021-23|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/_EdYQtV52-c" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Elantra GT 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Elantra GT 2017-19">Buy Here</a></sub></details>||
@@ -83,13 +86,13 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Ioniq 6 (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq 6 (with HDA II) 2023">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2019|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2019">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Electric 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Electric 2020">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Hybrid 2017-19|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2017-19">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Hybrid 2020-22|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Ioniq Plug-in Hybrid 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2019">Buy Here</a></sub></details>||
-|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
+|Hyundai|Ioniq Plug-in Hybrid 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Ioniq Plug-in Hybrid 2020-22">Buy Here</a></sub></details>||
 |Hyundai|Kona 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona 2020">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
-|Hyundai|Kona Electric 2022|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2018-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2018-21">Buy Here</a></sub></details>||
+|Hyundai|Kona Electric 2022-23|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai O connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Kona Electric (with HDA II, Korea only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai R connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Electric (with HDA II, Korea only) 2023">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=U2fOCmcQ8hw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Kona Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai I connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Kona Hybrid 2020">Buy Here</a></sub></details>|<a href="https://youtu.be/0dwpAHiZgFo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Palisade 2020-22|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Palisade 2020-22">Buy Here</a></sub></details>|<a href="https://youtu.be/TAnDqjF4fDY?t=456" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -97,7 +100,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Santa Fe 2019-20|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2019-20">Buy Here</a></sub></details>||
 |Hyundai|Santa Fe 2021-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe 2021-23">Buy Here</a></sub></details>|<a href="https://youtu.be/VnHzSTygTS4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Santa Fe Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Hybrid 2022-23">Buy Here</a></sub></details>||
-|Hyundai|Santa Fe Plug-in Hybrid 2022|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022">Buy Here</a></sub></details>||
+|Hyundai|Santa Fe Plug-in Hybrid 2022-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Santa Fe Plug-in Hybrid 2022-23">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2018-19|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2018-19">Buy Here</a></sub></details>||
 |Hyundai|Sonata 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata 2020-23">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=ix63r9kE3Fw" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Hyundai|Sonata Hybrid 2020-23|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Sonata Hybrid 2020-23">Buy Here</a></sub></details>||
@@ -109,16 +112,17 @@ A supported vehicle is one that just works when you install a comma device. All
 |Hyundai|Veloster 2019-20|Smart Cruise Control (SCC)|Stock|5 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Hyundai&model=Veloster 2019-20">Buy Here</a></sub></details>||
 |Jeep|Grand Cherokee 2016-18|Adaptive Cruise Control (ACC)|Stock|0 mph|9 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2016-18">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=eLR9o2JkuRk" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Jeep|Grand Cherokee 2019-21|Adaptive Cruise Control (ACC)|Stock|0 mph|39 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 FCA connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Jeep&model=Grand Cherokee 2019-21">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=jBe4lWnRSu4" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
-|Kia|Carnival 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023">Buy Here</a></sub></details>||
+|Kia|Carnival 2023-24[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival 2023-24">Buy Here</a></sub></details>||
 |Kia|Carnival (China only) 2023[<sup>6</sup>](#footnotes)|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai K connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Carnival (China only) 2023">Buy Here</a></sub></details>||
-|Kia|Ceed 2019|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
+|Kia|Ceed 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Ceed 2019">Buy Here</a></sub></details>||
 |Kia|EV6 (Southeast Asia only) 2022-23[<sup>6</sup>](#footnotes)|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (Southeast Asia only) 2022-23">Buy Here</a></sub></details>||
 |Kia|EV6 (with HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai P connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (with HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|EV6 (without HDA II) 2022-23[<sup>6</sup>](#footnotes)|Highway Driving Assist|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai L connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=EV6 (without HDA II) 2022-23">Buy Here</a></sub></details>||
 |Kia|Forte 2019-21|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2019-21">Buy Here</a></sub></details>||
 |Kia|Forte 2023|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Forte 2023">Buy Here</a></sub></details>||
 |Kia|K5 2021-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 2021-22">Buy Here</a></sub></details>||
-|Kia|K5 Hybrid 2020|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020">Buy Here</a></sub></details>||
+|Kia|K5 Hybrid 2020-22|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K5 Hybrid 2020-22">Buy Here</a></sub></details>||
+|Kia|K8 Hybrid (with HDA II) 2023[<sup>6</sup>](#footnotes)|Highway Driving Assist II|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai Q connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=K8 Hybrid (with HDA II) 2023">Buy Here</a></sub></details>||
 |Kia|Niro EV 2019|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2020|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai F connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2020">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Niro EV 2021|All|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro EV 2021">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=lT7zcG6ZpGo" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -130,6 +134,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Kia|Niro Plug-in Hybrid 2020|All|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai D connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Niro Plug-in Hybrid 2020">Buy Here</a></sub></details>||
 |Kia|Optima 2017|Advanced Smart Cruise Control|Stock|0 mph|32 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai B connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2017">Buy Here</a></sub></details>||
 |Kia|Optima 2019-20|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai G connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima 2019-20">Buy Here</a></sub></details>||
+|Kia|Optima Hybrid 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai H connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Optima Hybrid 2019">Buy Here</a></sub></details>||
 |Kia|Seltos 2021|Smart Cruise Control (SCC)|openpilot available[<sup>1</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai A connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Seltos 2021">Buy Here</a></sub></details>||
 |Kia|Sorento 2018|Advanced Smart Cruise Control|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai C connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2018">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Kia|Sorento 2019|Smart Cruise Control (SCC)|Stock|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 Hyundai E connector<br>- 1 RJ45 cable (7 ft)<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Kia&model=Sorento 2019">Buy Here</a></sub></details>|<a href="https://www.youtube.com/watch?v=Fkh3s6WHJz8" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
@@ -147,7 +152,7 @@ A supported vehicle is one that just works when you install a comma device. All
 |Lexus|ES Hybrid 2017-18|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2017-18">Buy Here</a></sub></details>||
 |Lexus|ES Hybrid 2019-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=ES Hybrid 2019-23">Buy Here</a></sub></details>|<a href="https://youtu.be/BZ29osRVJeg?t=12" target="_blank"><img height="18px" src="assets/icon-youtube.svg"></img></a>|
 |Lexus|IS 2017-19|All|Stock|19 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2017-19">Buy Here</a></sub></details>||
-|Lexus|IS 2023|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2023">Buy Here</a></sub></details>||
+|Lexus|IS 2022-23|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=IS 2022-23">Buy Here</a></sub></details>||
 |Lexus|NX 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2018-19">Buy Here</a></sub></details>||
 |Lexus|NX 2020-21|All|openpilot|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-full.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX 2020-21">Buy Here</a></sub></details>||
 |Lexus|NX Hybrid 2018-19|All|openpilot available[<sup>2</sup>](#footnotes)|0 mph|0 mph|[![star](assets/icon-star-full.svg)](##)|[![star](assets/icon-star-empty.svg)](##)|<details><summary>Parts</summary><sub>- 1 RJ45 cable (7 ft)<br>- 1 Toyota A connector<br>- 1 comma power v2<br>- 1 comma three<br>- 1 harness box<br>- 1 mount<br>- 1 right angle OBD-C cable (1.5 ft)<br><a href="https://comma.ai/shop/comma-3x.html?make=Lexus&model=NX Hybrid 2018-19">Buy Here</a></sub></details>||

pyproject.toml

@@ -1,10 +1,30 @@
 [tool.pytest.ini_options]
 minversion = "6.0"
-addopts = "--ignore=openpilot/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers"
+addopts = "--ignore=openpilot/ --ignore=cereal/ --ignore=opendbc/ --ignore=panda/ --ignore=rednose_repo/ --ignore=tinygrad_repo/ --ignore=laika_repo/ -Werror --strict-config --strict-markers --durations=10"
+#cpp_files = "test_*" # uncomment when agnos has pytest-cpp and remove from CI
 python_files = "test_*.py"
 #timeout = "30"  # you get this long by default
 markers = [
-  "parallel: mark tests as parallelizable (tests with no global state, so can be run in parallel)"
+  "slow: tests that take awhile to run and can be skipped with -m 'not slow'"
+]
+testpaths = [
+  "common",
+  "selfdrive/athena",
+  "selfdrive/boardd",
+  "selfdrive/car",
+  "selfdrive/controls",
+  "selfdrive/locationd",
+  "selfdrive/monitoring",
+  "selfdrive/thermald",
+  "selfdrive/test/longitudinal_maneuvers",
+  "system/hardware/tici",
+  "system/loggerd",
+  "system/proclogd",
+  "system/tests",
+  "system/ubloxd",
+  "tools/lib/tests",
+  "tools/replay",
+  "tools/cabana"
 ]
 
 [tool.mypy]
@@ -107,12 +127,12 @@ carla = { url = "https://github.com/commaai/carla/releases/download/3.11.4/carla
 coverage = "*"
 dictdiffer = "*"
 ft4222 = "*"
-hypothesis = "==6.46.7"
+hypothesis = "~6.47"
 inputs = "*"
 lru-dict = "*"
 markdown-it-py = "*"
 matplotlib = "*"
-metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="51d4393f3b3574fd0e79ed04eae0081f8447ca72" }
+metadrive-simulator = { git = "https://github.com/metadriverse/metadrive.git", rev ="7d6f8ef707bfff67c6b88f3b4a98f8b1d58bf8e6", markers = "platform_machine != 'aarch64'" } # no linux/aarch64 wheels for certain dependencies
 mpld3 = "*"
 mypy = "*"
 myst-parser = "*"
@@ -126,10 +146,12 @@ pygame = "*"
 pyprof2calltree = "*"
 pytest = "*"
 pytest-cov = "*"
+pytest-cpp = "*"
 pytest-subtests = "*"
 pytest-xdist = "*"
 pytest-timeout = "*"
 pytest-timeouts = "*"
+ruff = "*"
 scipy = "*"
 sphinx = "*"
 sphinx-rtd-theme = "*"
@@ -151,7 +173,7 @@ build-backend = "poetry.core.masonry.api"
 
 # https://beta.ruff.rs/docs/configuration/#using-pyprojecttoml
 [tool.ruff]
-select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF100", "A", "B"]
+select = ["E", "F", "W", "PIE", "C4", "ISC", "RUF008", "RUF100", "A", "B", "TID251"]
 ignore = ["W292", "E741", "E402", "C408", "ISC003", "B027", "B024"]
 line-length = 160
 target-version="py311"
@@ -164,3 +186,9 @@ exclude = [
   "third_party",
 ]
 flake8-implicit-str-concat.allow-multiline=false
+[tool.ruff.flake8-tidy-imports.banned-api]
+"selfdrive".msg = "Use openpilot.selfdrive"
+"common".msg = "Use openpilot.common"
+"system".msg = "Use openpilot.system"
+"third_party".msg = "Use openpilot.third_party"
+"tools".msg = "Use openpilot.tools"

release/files_common

@@ -209,6 +209,7 @@ system/hardware/__init__.py
 system/hardware/base.h
 system/hardware/base.py
 system/hardware/hw.h
+system/hardware/hw.py
 system/hardware/tici/__init__.py
 system/hardware/tici/hardware.h
 system/hardware/tici/hardware.py
@@ -360,12 +361,10 @@ selfdrive/modeld/.gitignore
 selfdrive/modeld/__init__.py
 selfdrive/modeld/SConscript
 selfdrive/modeld/modeld.py
-selfdrive/modeld/navmodeld.cc
-selfdrive/modeld/dmonitoringmodeld.cc
+selfdrive/modeld/navmodeld.py
+selfdrive/modeld/dmonitoringmodeld.py
 selfdrive/modeld/constants.py
 selfdrive/modeld/modeld
-selfdrive/modeld/navmodeld
-selfdrive/modeld/dmonitoringmodeld
 
 selfdrive/modeld/models/__init__.py
 selfdrive/modeld/models/*.pxd
@@ -378,12 +377,8 @@ selfdrive/modeld/models/driving.cc
 selfdrive/modeld/models/driving.h
 selfdrive/modeld/models/supercombo.onnx
 
-selfdrive/modeld/models/dmonitoring.cc
-selfdrive/modeld/models/dmonitoring.h
 selfdrive/modeld/models/dmonitoring_model_q.dlc
 
-selfdrive/modeld/models/nav.cc
-selfdrive/modeld/models/nav.h
 selfdrive/modeld/models/navmodel_q.dlc
 
 selfdrive/modeld/transforms/loadyuv.cc

selfdrive/athena/athenad.py

@@ -29,18 +29,18 @@ from websocket import (ABNF, WebSocket, WebSocketException, WebSocketTimeoutExce
 
 import cereal.messaging as messaging
 from cereal import log
-from cereal.services import service_list
+from cereal.services import SERVICE_LIST
 from openpilot.common.api import Api
 from openpilot.common.basedir import PERSIST
 from openpilot.common.file_helpers import CallbackReader
 from openpilot.common.params import Params
 from openpilot.common.realtime import set_core_affinity
 from openpilot.system.hardware import HARDWARE, PC, AGNOS
-from openpilot.system.loggerd.config import ROOT
 from openpilot.system.loggerd.xattr_cache import getxattr, setxattr
 from openpilot.selfdrive.statsd import STATS_DIR
-from openpilot.system.swaglog import SWAGLOG_DIR, cloudlog
+from openpilot.system.swaglog import cloudlog
 from openpilot.system.version import get_commit, get_origin, get_short_branch, get_version
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 # TODO: use socket constant when mypy recognizes this as a valid attribute
@@ -119,12 +119,11 @@ class AbortTransferException(Exception):
 
 
 class UploadQueueCache:
-  params = Params()
 
   @staticmethod
   def initialize(upload_queue: Queue[UploadItem]) -> None:
     try:
-      upload_queue_json = UploadQueueCache.params.get("AthenadUploadQueue")
+      upload_queue_json = Params().get("AthenadUploadQueue")
       if upload_queue_json is not None:
         for item in json.loads(upload_queue_json):
           upload_queue.put(UploadItem.from_dict(item))
@@ -136,7 +135,7 @@ class UploadQueueCache:
     try:
       queue: List[Optional[UploadItem]] = list(upload_queue.queue)
       items = [asdict(i) for i in queue if i is not None and (i.id not in cancelled_uploads)]
-      UploadQueueCache.params.put("AthenadUploadQueue", json.dumps(items))
+      Params().put("AthenadUploadQueue", json.dumps(items))
     except Exception:
       cloudlog.exception("athena.UploadQueueCache.cache.exception")
 
@@ -310,7 +309,7 @@ def _do_upload(upload_item: UploadItem, callback: Optional[Callable] = None) ->
 # security: user should be able to request any message from their car
 @dispatcher.add_method
 def getMessage(service: str, timeout: int = 1000) -> dict:
-  if service is None or service not in service_list:
+  if service is None or service not in SERVICE_LIST:
     raise Exception("invalid service")
 
   socket = messaging.sub_sock(service, timeout=timeout)
@@ -352,7 +351,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
   # (glob and friends traverse entire dir tree)
   with os.scandir(path) as i:
     for e in i:
-      rel_path = os.path.relpath(e.path, ROOT)
+      rel_path = os.path.relpath(e.path, Paths.log_root())
       if e.is_dir(follow_symlinks=False):
         # add trailing slash
         rel_path = os.path.join(rel_path, '')
@@ -367,7 +366,7 @@ def scan_dir(path: str, prefix: str) -> List[str]:
 
 @dispatcher.add_method
 def listDataDirectory(prefix='') -> List[str]:
-  return scan_dir(ROOT, prefix)
+  return scan_dir(Paths.log_root(), prefix)
 
 
 @dispatcher.add_method
@@ -408,7 +407,7 @@ def uploadFilesToUrls(files_data: List[UploadFileDict]) -> UploadFilesToUrlRespo
       failed.append(file.fn)
       continue
 
-    path = os.path.join(ROOT, file.fn)
+    path = os.path.join(Paths.log_root(), file.fn)
     if not os.path.exists(path) and not os.path.exists(strip_bz2_extension(path)):
       failed.append(file.fn)
       continue
@@ -572,8 +571,8 @@ def get_logs_to_send_sorted() -> List[str]:
   # TODO: scan once then use inotify to detect file creation/deletion
   curr_time = int(time.time())
   logs = []
-  for log_entry in os.listdir(SWAGLOG_DIR):
-    log_path = os.path.join(SWAGLOG_DIR, log_entry)
+  for log_entry in os.listdir(Paths.swaglog_root()):
+    log_path = os.path.join(Paths.swaglog_root(), log_entry)
     time_sent = 0
     try:
       value = getxattr(log_path, LOG_ATTR_NAME)
@@ -608,7 +607,7 @@ def log_handler(end_event: threading.Event) -> None:
         cloudlog.debug(f"athena.log_handler.forward_request {log_entry}")
         try:
           curr_time = int(time.time())
-          log_path = os.path.join(SWAGLOG_DIR, log_entry)
+          log_path = os.path.join(Paths.swaglog_root(), log_entry)
           setxattr(log_path, LOG_ATTR_NAME, int.to_bytes(curr_time, 4, sys.byteorder))
           with open(log_path) as f:
             jsonrpc = {
@@ -635,7 +634,7 @@ def log_handler(end_event: threading.Event) -> None:
           log_success = "result" in log_resp and log_resp["result"].get("success")
           cloudlog.debug(f"athena.log_handler.forward_response {log_entry} {log_success}")
           if log_entry and log_success:
-            log_path = os.path.join(SWAGLOG_DIR, log_entry)
+            log_path = os.path.join(Paths.swaglog_root(), log_entry)
             try:
               setxattr(log_path, LOG_ATTR_NAME, LOG_ATTR_VALUE_MAX_UNIX_TIME)
             except OSError:

selfdrive/athena/tests/test_athenad.py

@@ -3,7 +3,6 @@ import json
 import os
 import requests
 import shutil
-import tempfile
 import time
 import threading
 import queue
@@ -18,11 +17,11 @@ from unittest import mock
 from websocket import ABNF
 from websocket._exceptions import WebSocketConnectionClosedException
 
-from openpilot.system import swaglog
 from openpilot.selfdrive.athena import athenad
 from openpilot.selfdrive.athena.athenad import MAX_RETRY_COUNT, dispatcher
 from openpilot.selfdrive.athena.tests.helpers import MockWebsocket, MockParams, MockApi, EchoSocket, with_http_server
 from cereal import messaging
+from openpilot.selfdrive.hardware.hw import Paths
 
 
 class TestAthenadMethods(unittest.TestCase):
@@ -30,8 +29,6 @@ class TestAthenadMethods(unittest.TestCase):
   def setUpClass(cls):
     cls.SOCKET_PORT = 45454
     athenad.Params = MockParams
-    athenad.ROOT = tempfile.mkdtemp()
-    athenad.SWAGLOG_DIR = swaglog.SWAGLOG_DIR = tempfile.mkdtemp()
     athenad.Api = MockApi
     athenad.LOCAL_PORT_WHITELIST = {cls.SOCKET_PORT}
 
@@ -41,8 +38,8 @@ class TestAthenadMethods(unittest.TestCase):
     athenad.cur_upload_items.clear()
     athenad.cancelled_uploads.clear()
 
-    for i in os.listdir(athenad.ROOT):
-      p = os.path.join(athenad.ROOT, i)
+    for i in os.listdir(Paths.log_root()):
+      p = os.path.join(Paths.log_root(), i)
       if os.path.isdir(p):
         shutil.rmtree(p)
       else:
@@ -61,7 +58,7 @@ class TestAthenadMethods(unittest.TestCase):
 
   @staticmethod
   def _create_file(file: str, parent: Optional[str] = None) -> str:
-    fn = os.path.join(athenad.ROOT if parent is None else parent, file)
+    fn = os.path.join(Paths.log_root() if parent is None else parent, file)
     os.makedirs(os.path.dirname(fn), exist_ok=True)
     Path(fn).touch()
     return fn
@@ -418,7 +415,7 @@ class TestAthenadMethods(unittest.TestCase):
     fl = list()
     for i in range(10):
       file = f'swaglog.{i:010}'
-      self._create_file(file, athenad.SWAGLOG_DIR)
+      self._create_file(file, Paths.swaglog_root())
       fl.append(file)
 
     # ensure the list is all logs except most recent

selfdrive/boardd/boardd.cc

@@ -472,12 +472,15 @@ void panda_state_thread(std::vector<Panda *> pandas, bool spoofing_started) {
 
   LOGD("start panda state thread");
 
-  // run at 2hz
-  RateKeeper rk("panda_state_thread", 2);
+  // run at 10hz
+  RateKeeper rk("panda_state_thread", 10);
 
   while (!do_exit && check_all_connected(pandas)) {
-    // send out peripheralState
-    send_peripheral_state(&pm, peripheral_panda);
+    // send out peripheralState at 2Hz
+    if (sm.frame % 5 == 0) {
+      send_peripheral_state(&pm, peripheral_panda);
+    }
+
     auto ignition_opt = send_panda_states(&pm, pandas, spoofing_started);
 
     if (!ignition_opt) {

selfdrive/boardd/pandad.py

@@ -34,10 +34,12 @@ def read_panda_logs(panda: Panda) -> None:
 
   log_state = {}
   try:
-    l = json.loads(params.get("PandaLogState"))
-    for k, v in l.items():
-      if isinstance(k, str) and isinstance(v, int):
-        log_state[k] = v
+    ls = params.get("PandaLogState")
+    if ls is not None:
+      l = json.loads(ls)
+      for k, v in l.items():
+        if isinstance(k, str) and isinstance(v, int):
+          log_state[k] = v
   except (TypeError, json.JSONDecodeError):
     cloudlog.exception("failed to parse PandaLogState")
 

selfdrive/car/body/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 from cereal import car
 from openpilot.common.realtime import DT_CTRL

selfdrive/car/body/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/disable_ecu.py

@@ -1,3 +1,4 @@
+#!/usr/bin/env python3
 from openpilot.selfdrive.car.isotp_parallel_query import IsoTpParallelQuery
 from openpilot.system.swaglog import cloudlog
 

selfdrive/car/ford/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV

selfdrive/car/ford/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from math import cos, sin
 from cereal import car
 from opendbc.can.parser import CANParser

selfdrive/car/gm/carstate.py

@@ -98,7 +98,7 @@ class CarState(CarStateBase):
     ret.leftBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 1
     ret.rightBlinker = pt_cp.vl["BCMTurnSignals"]["TurnSignals"] == 2
 
-    ret.parkingBrake = pt_cp.vl["VehicleIgnitionAlt"]["ParkBrake"] == 1
+    ret.parkingBrake = pt_cp.vl["BCMGeneralPlatformStatus"]["ParkBrakeSwActive"] == 1
     ret.cruiseState.available = pt_cp.vl["ECMEngineStatus"]["CruiseMainOn"] != 0
     ret.espDisabled = pt_cp.vl["ESPStatus"]["TractionControlOn"] != 1
     ret.accFaulted = (pt_cp.vl["AcceleratorPedal2"]["CruiseState"] == AccState.FAULTED or
@@ -135,7 +135,7 @@ class CarState(CarStateBase):
       ("PSCMStatus", 10),
       ("ESPStatus", 10),
       ("BCMDoorBeltStatus", 10),
-      ("VehicleIgnitionAlt", 10),
+      ("BCMGeneralPlatformStatus", 10),
       ("EBCMWheelSpdFront", 20),
       ("EBCMWheelSpdRear", 20),
       ("EBCMFrictionBrakeStatus", 20),

selfdrive/car/honda/values.py

@@ -1358,6 +1358,7 @@ FW_VERSIONS = {
       b'78109-T6Z-A910\x00\x00',
       b'78109-T6Z-AA10\x00\x00',
       b'78109-T6Z-C620\x00\x00',
+      b'78109-T6Z-C910\x00\x00',
       b'78109-TJZ-A510\x00\x00',
     ],
     (Ecu.srs, 0x18da53f1, None): [

selfdrive/car/hyundai/carstate.py

@@ -105,10 +105,12 @@ class CarState(CarStateBase):
       ret.cruiseState.available = cp.vl["TCS13"]["ACCEnable"] == 0
       ret.cruiseState.enabled = cp.vl["TCS13"]["ACC_REQ"] == 1
       ret.cruiseState.standstill = False
+      ret.cruiseState.nonAdaptive = False
     else:
       ret.cruiseState.available = cp_cruise.vl["SCC11"]["MainMode_ACC"] == 1
       ret.cruiseState.enabled = cp_cruise.vl["SCC12"]["ACCMode"] != 0
       ret.cruiseState.standstill = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 4.
+      ret.cruiseState.nonAdaptive = cp_cruise.vl["SCC11"]["SCCInfoDisplay"] == 2.  # Shows 'Cruise Control' on dash
       ret.cruiseState.speed = cp_cruise.vl["SCC11"]["VSetDis"] * speed_conv
 
     # TODO: Find brake pressure
@@ -130,12 +132,12 @@ class CarState(CarStateBase):
 
     # Gear Selection via Cluster - For those Kia/Hyundai which are not fully discovered, we can use the Cluster Indicator for Gear Selection,
     # as this seems to be standard over all cars, but is not the preferred method.
-    if self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if self.CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
+    elif self.CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       gear = cp.vl["CLU15"]["CF_Clu_Gear"]
     elif self.CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       gear = cp.vl["TCU12"]["CUR_GR"]
-    elif self.CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      gear = cp.vl["ELECT_GEAR"]["Elect_Gear_Shifter"]
     else:
       gear = cp.vl["LVR12"]["CF_Lvr_Gear"]
 
@@ -226,6 +228,13 @@ class CarState(CarStateBase):
       ret.cruiseState.speed = cp_cruise_info.vl["SCC_CONTROL"]["VSetDis"] * speed_factor
       self.cruise_info = copy.copy(cp_cruise_info.vl["SCC_CONTROL"])
 
+    # Manual Speed Limit Assist is a feature that replaces non-adaptive cruise control on EV CAN FD platforms.
+    # It limits the vehicle speed, overridable by pressing the accelerator past a certain point.
+    # The car will brake, but does not respect positive acceleration commands in this mode
+    # TODO: find this message on ICE & HYBRID cars + cruise control signals (if exists)
+    if self.CP.carFingerprint in EV_CAR:
+      ret.cruiseState.nonAdaptive = cp.vl["MANUAL_SPEED_LIMIT_ASSIST"]["MSLA_ENABLED"] == 1
+
     self.prev_cruise_buttons = self.cruise_buttons[-1]
     self.cruise_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["CRUISE_BUTTONS"])
     self.main_buttons.extend(cp.vl_all[self.cruise_btns_msg_canfd]["ADAPTIVE_CRUISE_MAIN_BTN"])
@@ -276,12 +285,12 @@ class CarState(CarStateBase):
         ("EMS16", 100),
       ]
 
-    if CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
+    if CP.carFingerprint in (HYBRID_CAR | EV_CAR):
+      messages.append(("ELECT_GEAR", 20))
+    elif CP.carFingerprint in CAN_GEARS["use_cluster_gears"]:
       pass
     elif CP.carFingerprint in CAN_GEARS["use_tcu_gears"]:
       messages.append(("TCU12", 100))
-    elif CP.carFingerprint in CAN_GEARS["use_elect_gears"]:
-      messages.append(("ELECT_GEAR", 20))
     else:
       messages.append(("LVR12", 100))
 
@@ -320,6 +329,11 @@ class CarState(CarStateBase):
       ("DOORS_SEATBELTS", 4),
     ]
 
+    if CP.carFingerprint in EV_CAR:
+      messages += [
+        ("MANUAL_SPEED_LIMIT_ASSIST", 10),
+      ]
+
     if not (CP.flags & HyundaiFlags.CANFD_ALT_BUTTONS):
       messages += [
         ("CRUISE_BUTTONS", 50)

selfdrive/car/hyundai/hyundaican.py

@@ -37,7 +37,8 @@ def create_lkas11(packer, frame, car_fingerprint, apply_steer, steer_req,
                          CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.GENESIS_G70_2020,
                          CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_EV, CAR.KONA_HEV, CAR.KONA_EV_2022,
                          CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022,
-                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED):
+                         CAR.SANTA_FE_PHEV_2022, CAR.KIA_STINGER_2022, CAR.KIA_K5_HEV_2020, CAR.KIA_CEED,
+                         CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN, CAR.CUSTIN_1ST_GEN):
     values["CF_Lkas_LdwsActivemode"] = int(left_lane) + (int(right_lane) << 1)
     values["CF_Lkas_LdwsOpt_USM"] = 2
 

selfdrive/car/hyundai/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.common.conversions import Conversions as CV
@@ -28,7 +27,7 @@ class CarInterface(CarInterfaceBase):
     # These cars have been put into dashcam only due to both a lack of users and test coverage.
     # These cars likely still work fine. Once a user confirms each car works and a test route is
     # added to selfdrive/car/tests/routes.py, we can remove it from this list.
-    # FIXME: the Optima Hybrid uses a different SCC12 checksum
+    # FIXME: the Optima Hybrid 2017 uses a different SCC12 checksum
     ret.dashcamOnly = candidate in {CAR.KIA_OPTIMA_H, }
 
     hda2 = Ecu.adas in [fw.ecu for fw in car_fw]
@@ -65,7 +64,11 @@ class CarInterface(CarInterfaceBase):
     ret.steerLimitTimer = 0.4
     CarInterfaceBase.configure_torque_tune(candidate, ret.lateralTuning)
 
-    if candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
+    if candidate in (CAR.AZERA_6TH_GEN, CAR.AZERA_HEV_6TH_GEN):
+      ret.mass = 1600. if candidate == CAR.AZERA_6TH_GEN else 1675.  # ICE is ~average of 2.5L and 3.5L
+      ret.wheelbase = 2.885
+      ret.steerRatio = 14.5
+    elif candidate in (CAR.SANTA_FE, CAR.SANTA_FE_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022):
       ret.mass = 3982. * CV.LB_TO_KG
       ret.wheelbase = 2.766
       # Values from optimizer
@@ -138,6 +141,10 @@ class CarInterface(CarInterfaceBase):
       ret.wheelbase = 3.000
       # steering ratio according to Hyundai News https://www.hyundainews.com/assets/documents/original/48035-2022SantaCruzProductGuideSpecsv2081521.pdf
       ret.steerRatio = 14.2
+    elif candidate == CAR.CUSTIN_1ST_GEN:
+      ret.mass = 1690.  # from https://www.hyundai-motor.com.tw/clicktobuy/custin#spec_0
+      ret.wheelbase = 3.055
+      ret.steerRatio = 17.0  # from learner
 
     # Kia
     elif candidate == CAR.KIA_SORENTO:
@@ -159,7 +166,7 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 1700.  # weight from SX and above trims, average of FWD and AWD versions
       ret.wheelbase = 2.756
       ret.steerRatio = 13.6  # steering ratio according to Kia News https://www.kiamedia.com/us/en/models/sportage/2023/specifications
-    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H):
+    elif candidate in (CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL):
       ret.mass = 3558. * CV.LB_TO_KG
       ret.wheelbase = 2.80
       ret.steerRatio = 13.75
@@ -212,6 +219,10 @@ class CarInterface(CarInterfaceBase):
       ret.mass = 2087.
       ret.wheelbase = 3.09
       ret.steerRatio = 14.23
+    elif candidate == CAR.KIA_K8_HEV_1ST_GEN:
+      ret.mass = 1630.  # https://carprices.ae/brands/kia/2023/k8/1.6-turbo-hybrid
+      ret.wheelbase = 2.895
+      ret.steerRatio = 13.27  # guesstimate from K5 platform
 
     # Genesis
     elif candidate == CAR.GENESIS_GV60_EV_1ST_GEN:
@@ -266,7 +277,7 @@ class CarInterface(CarInterfaceBase):
 
     # *** feature detection ***
     if candidate in CANFD_CAR:
-      ret.enableBsm = 0x1e5 in fingerprint[CAN.ECAN]
+      ret.enableBsm = False  # 0x1e5 in fingerprint[CAN.ECAN]
     else:
       ret.enableBsm = 0x58b in fingerprint[0]
 

selfdrive/car/hyundai/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 import math
 
 from cereal import car

selfdrive/car/hyundai/tests/test_hyundai.py

@@ -1,11 +1,13 @@
 #!/usr/bin/env python3
+from hypothesis import settings, given, strategies as st
 import unittest
 
 from cereal import car
 from openpilot.selfdrive.car.fw_versions import build_fw_dict
 from openpilot.selfdrive.car.hyundai.values import CAMERA_SCC_CAR, CANFD_CAR, CAN_GEARS, CAR, CHECKSUM, DATE_FW_ECUS, \
-                                         EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
-                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, get_platform_codes
+                                         HYBRID_CAR, EV_CAR, FW_QUERY_CONFIG, FW_VERSIONS, LEGACY_SAFETY_MODE_CAR, \
+                                         UNSUPPORTED_LONGITUDINAL_CAR, PLATFORM_CODE_ECUS, HYUNDAI_VERSION_REQUEST_LONG, \
+                                         get_platform_codes
 
 Ecu = car.CarParams.Ecu
 ECU_NAME = {v: k for k, v in Ecu.schema.enumerants.items()}
@@ -36,7 +38,11 @@ NO_DATES_PLATFORMS = {
 
 
 class TestHyundaiFingerprint(unittest.TestCase):
-  def test_canfd_not_in_can_features(self):
+  def test_can_features(self):
+    # Test no EV/HEV in any gear lists (should all use ELECT_GEAR)
+    self.assertEqual(set.union(*CAN_GEARS.values()) & (HYBRID_CAR | EV_CAR), set())
+
+    # Test CAN FD car not in CAN feature lists
     can_specific_feature_list = set.union(*CAN_GEARS.values(), *CHECKSUM.values(), LEGACY_SAFETY_MODE_CAR, UNSUPPORTED_LONGITUDINAL_CAR, CAMERA_SCC_CAR)
     for car_model in CANFD_CAR:
       self.assertNotIn(car_model, can_specific_feature_list, "CAN FD car unexpectedly found in a CAN feature list")
@@ -66,12 +72,34 @@ class TestHyundaiFingerprint(unittest.TestCase):
           part = code.split(b"-")[1]
           self.assertFalse(part.startswith(b'CW'), "Car has bad part number")
 
+  def test_correct_ecu_response_database(self):
+    """
+    Assert standard responses for certain ECUs, since they can
+    respond to multiple queries with different data
+    """
+    expected_fw_prefix = HYUNDAI_VERSION_REQUEST_LONG[1:]
+    for car_model, ecus in FW_VERSIONS.items():
+      with self.subTest(car_model=car_model):
+        for ecu, fws in ecus.items():
+          # TODO: enable for Ecu.fwdRadar, Ecu.abs, Ecu.eps, Ecu.transmission
+          if ecu[0] in (Ecu.fwdCamera,):
+            self.assertTrue(all(fw.startswith(expected_fw_prefix) for fw in fws),
+                            f"FW from unexpected request in database: {(ecu, fws)}")
+
+  @settings(max_examples=100)
+  @given(data=st.data())
+  def test_platform_codes_fuzzy_fw(self, data):
+    """Ensure function doesn't raise an exception"""
+    fw_strategy = st.lists(st.binary())
+    fws = data.draw(fw_strategy)
+    get_platform_codes(fws)
+
   # Tests for platform codes, part numbers, and FW dates which Hyundai will use to fuzzy
   # fingerprint in the absence of full FW matches:
   def test_platform_code_ecus_available(self):
     # TODO: add queries for these non-CAN FD cars to get EPS
     no_eps_platforms = CANFD_CAR | {CAR.KIA_SORENTO, CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.KIA_OPTIMA_H,
-                                    CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
+                                    CAR.KIA_OPTIMA_H_G4_FL, CAR.SONATA_LF, CAR.TUCSON, CAR.GENESIS_G90, CAR.GENESIS_G80}
 
     # Asserts ECU keys essential for fuzzy fingerprinting are available on all platforms
     for car_model, ecus in FW_VERSIONS.items():

selfdrive/car/hyundai/values.py

@@ -39,7 +39,7 @@ class CarControllerParams:
     # If the max stock LKAS request is <384, add your car to this list.
     elif CP.carFingerprint in (CAR.GENESIS_G80, CAR.GENESIS_G90, CAR.ELANTRA, CAR.IONIQ,
                                CAR.IONIQ_EV_LTD, CAR.SANTA_FE_PHEV_2022, CAR.SONATA_LF, CAR.KIA_FORTE, CAR.KIA_NIRO_PHEV,
-                               CAR.KIA_OPTIMA_H, CAR.KIA_SORENTO):
+                               CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_SORENTO):
       self.STEER_MAX = 255
 
     # these cars have significantly more torque than most HKG; limit to 70% of max
@@ -69,6 +69,8 @@ class HyundaiFlags(IntFlag):
 
 class CAR:
   # Hyundai
+  AZERA_6TH_GEN = "HYUNDAI AZERA 6TH GEN"
+  AZERA_HEV_6TH_GEN = "HYUNDAI AZERA HYBRID 6TH GEN"
   ELANTRA = "HYUNDAI ELANTRA 2017"
   ELANTRA_2021 = "HYUNDAI ELANTRA 2021"
   ELANTRA_HEV_2021 = "HYUNDAI ELANTRA HYBRID 2021"
@@ -99,11 +101,13 @@ class CAR:
   TUCSON_4TH_GEN = "HYUNDAI TUCSON 4TH GEN"
   TUCSON_HYBRID_4TH_GEN = "HYUNDAI TUCSON HYBRID 4TH GEN"
   SANTA_CRUZ_1ST_GEN = "HYUNDAI SANTA CRUZ 1ST GEN"
+  CUSTIN_1ST_GEN = "HYUNDAI CUSTIN 1ST GEN"
 
   # Kia
   KIA_FORTE = "KIA FORTE E 2018 & GT 2021"
   KIA_K5_2021 = "KIA K5 2021"
   KIA_K5_HEV_2020 = "KIA K5 HYBRID 2020"
+  KIA_K8_HEV_1ST_GEN = "KIA K8 HYBRID 1ST GEN"
   KIA_NIRO_EV = "KIA NIRO EV 2020"
   KIA_NIRO_EV_2ND_GEN = "KIA NIRO EV 2ND GEN"
   KIA_NIRO_PHEV = "KIA NIRO HYBRID 2019"
@@ -112,6 +116,7 @@ class CAR:
   KIA_OPTIMA_G4 = "KIA OPTIMA 4TH GEN"
   KIA_OPTIMA_G4_FL = "KIA OPTIMA 4TH GEN FACELIFT"
   KIA_OPTIMA_H = "KIA OPTIMA HYBRID 2017 & SPORTS 2019"
+  KIA_OPTIMA_H_G4_FL = "KIA OPTIMA HYBRID 4TH GEN FACELIFT"
   KIA_SELTOS = "KIA SELTOS 2021"
   KIA_SPORTAGE_5TH_GEN = "KIA SPORTAGE 5TH GEN"
   KIA_SORENTO = "KIA SORENTO GT LINE 2018"
@@ -139,7 +144,7 @@ class Footnote(Enum):
   CANFD = CarFootnote(
     "Requires a comma 3X or <a href=\"https://comma.ai/shop/can-fd-panda-kit\" target=\"_blank\">CAN FD panda kit</a> " +
     "for this <a href=\"https://en.wikipedia.org/wiki/CAN_FD\" target=\"_blank\">CAN FD car</a>.",
-    Column.MODEL, shop_footnote=True)
+    Column.MODEL, shop_footnote=False)
 
 
 @dataclass
@@ -152,6 +157,8 @@ class HyundaiCarInfo(CarInfo):
 
 
 CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
+  CAR.AZERA_6TH_GEN: HyundaiCarInfo("Hyundai Azera 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
+  CAR.AZERA_HEV_6TH_GEN: HyundaiCarInfo("Hyundai Azera Hybrid 2020", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
   CAR.ELANTRA: [
     HyundaiCarInfo("Hyundai Elantra 2017-19", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_b])),
     HyundaiCarInfo("Hyundai Elantra GT 2017-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
@@ -173,17 +180,19 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   CAR.IONIQ_PHEV: HyundaiCarInfo("Hyundai Ioniq Plug-in Hybrid 2020-22", "All", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KONA: HyundaiCarInfo("Hyundai Kona 2020", car_parts=CarParts.common([CarHarness.hyundai_b])),
   CAR.KONA_EV: HyundaiCarInfo("Hyundai Kona Electric 2018-21", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022", car_parts=CarParts.common([CarHarness.hyundai_o])),
+  CAR.KONA_EV_2022: HyundaiCarInfo("Hyundai Kona Electric 2022-23", car_parts=CarParts.common([CarHarness.hyundai_o])),
   CAR.KONA_HEV: HyundaiCarInfo("Hyundai Kona Hybrid 2020", video_link="https://youtu.be/0dwpAHiZgFo",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
-  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw", car_parts=CarParts.common([CarHarness.hyundai_r])),
+                               car_parts=CarParts.common([CarHarness.hyundai_i])),  # TODO: check packages
+  # TODO: this is the 2024 US MY, not yet released
+  CAR.KONA_EV_2ND_GEN: HyundaiCarInfo("Hyundai Kona Electric (with HDA II, Korea only) 2023", video_link="https://www.youtube.com/watch?v=U2fOCmcQ8hw",
+                                      car_parts=CarParts.common([CarHarness.hyundai_r])),
   CAR.SANTA_FE: HyundaiCarInfo("Hyundai Santa Fe 2019-20", "All", car_parts=CarParts.common([CarHarness.hyundai_d])),
   CAR.SANTA_FE_2022: HyundaiCarInfo("Hyundai Santa Fe 2021-23", "All", video_link="https://youtu.be/VnHzSTygTS4",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_l])),
+                                    car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SANTA_FE_HEV_2022: HyundaiCarInfo("Hyundai Santa Fe Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
-  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
+  CAR.SANTA_FE_PHEV_2022: HyundaiCarInfo("Hyundai Santa Fe Plug-in Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_l])),
   CAR.SONATA: HyundaiCarInfo("Hyundai Sonata 2020-23", "All", video_link="https://www.youtube.com/watch?v=ix63r9kE3Fw",
-                                                                      car_parts=CarParts.common([CarHarness.hyundai_a])),
+                             car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.SONATA_LF: HyundaiCarInfo("Hyundai Sonata 2018-19", car_parts=CarParts.common([CarHarness.hyundai_e])),
   CAR.TUCSON: [
     HyundaiCarInfo("Hyundai Tucson 2021", min_enable_speed=19 * CV.MPH_TO_MS, car_parts=CarParts.common([CarHarness.hyundai_l])),
@@ -209,6 +218,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.TUCSON_HYBRID_4TH_GEN: HyundaiCarInfo("Hyundai Tucson Hybrid 2022-23", "All", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.SANTA_CRUZ_1ST_GEN: HyundaiCarInfo("Hyundai Santa Cruz 2022-23", car_parts=CarParts.common([CarHarness.hyundai_n])),
+  CAR.CUSTIN_1ST_GEN: HyundaiCarInfo("Hyundai Custin 2023", "All", car_parts=CarParts.common([CarHarness.hyundai_k])),
 
   # Kia
   CAR.KIA_FORTE: [
@@ -216,7 +226,8 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia Forte 2023", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_K5_2021: HyundaiCarInfo("Kia K5 2021-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
-  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K5_HEV_2020: HyundaiCarInfo("Kia K5 Hybrid 2020-22", car_parts=CarParts.common([CarHarness.hyundai_a])),
+  CAR.KIA_K8_HEV_1ST_GEN: HyundaiCarInfo("Kia K8 Hybrid (with HDA II) 2023", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_q])),
   CAR.KIA_NIRO_EV: [
     HyundaiCarInfo("Kia Niro EV 2019", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_h])),
     HyundaiCarInfo("Kia Niro EV 2020", "All", video_link="https://www.youtube.com/watch?v=lT7zcG6ZpGo", car_parts=CarParts.common([CarHarness.hyundai_f])),
@@ -233,17 +244,16 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
   ],
   CAR.KIA_NIRO_HEV_2ND_GEN: HyundaiCarInfo("Kia Niro Hybrid 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_OPTIMA_G4: HyundaiCarInfo("Kia Optima 2017", "Advanced Smart Cruise Control",
-                                              car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
+                                    car_parts=CarParts.common([CarHarness.hyundai_b])),  # TODO: may support 2016, 2018
   CAR.KIA_OPTIMA_G4_FL: HyundaiCarInfo("Kia Optima 2019-20", car_parts=CarParts.common([CarHarness.hyundai_g])),
-  CAR.KIA_OPTIMA_H: [
-    HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),  # TODO: may support adjacent years
-    HyundaiCarInfo("Kia Optima Hybrid 2019"),
-  ],
+  # TODO: may support adjacent years. may have a non-zero minimum steering speed
+  CAR.KIA_OPTIMA_H: HyundaiCarInfo("Kia Optima Hybrid 2017", "Advanced Smart Cruise Control"),
+  CAR.KIA_OPTIMA_H_G4_FL: HyundaiCarInfo("Kia Optima Hybrid 2019", car_parts=CarParts.common([CarHarness.hyundai_h])),
   CAR.KIA_SELTOS: HyundaiCarInfo("Kia Seltos 2021", car_parts=CarParts.common([CarHarness.hyundai_a])),
   CAR.KIA_SPORTAGE_5TH_GEN: HyundaiCarInfo("Kia Sportage 2023", car_parts=CarParts.common([CarHarness.hyundai_n])),
   CAR.KIA_SORENTO: [
     HyundaiCarInfo("Kia Sorento 2018", "Advanced Smart Cruise Control", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8",
-                    car_parts=CarParts.common([CarHarness.hyundai_c])),
+                   car_parts=CarParts.common([CarHarness.hyundai_c])),
     HyundaiCarInfo("Kia Sorento 2019", video_link="https://www.youtube.com/watch?v=Fkh3s6WHJz8", car_parts=CarParts.common([CarHarness.hyundai_e])),
   ],
   CAR.KIA_SORENTO_4TH_GEN: HyundaiCarInfo("Kia Sorento 2021-23", car_parts=CarParts.common([CarHarness.hyundai_k])),
@@ -260,7 +270,7 @@ CAR_INFO: Dict[str, Optional[Union[HyundaiCarInfo, List[HyundaiCarInfo]]]] = {
     HyundaiCarInfo("Kia EV6 (with HDA II) 2022-23", "Highway Driving Assist II", car_parts=CarParts.common([CarHarness.hyundai_p]))
   ],
   CAR.KIA_CARNIVAL_4TH_GEN: [
-    HyundaiCarInfo("Kia Carnival 2023", car_parts=CarParts.common([CarHarness.hyundai_a])),
+    HyundaiCarInfo("Kia Carnival 2023-24", car_parts=CarParts.common([CarHarness.hyundai_a])),
     HyundaiCarInfo("Kia Carnival (China only) 2023", car_parts=CarParts.common([CarHarness.hyundai_k]))
   ],
 
@@ -459,6 +469,7 @@ PART_NUMBER_FW_PATTERN = re.compile(b'(?<=[0-9][.,][0-9]{2} )([0-9]{5}[-/]?[A-Z]
 # TODO: use abs, it has the platform code and part number on many platforms
 PLATFORM_CODE_ECUS = [Ecu.fwdRadar, Ecu.fwdCamera, Ecu.eps]
 # So far we've only seen dates in fwdCamera
+# TODO: there are date codes in the ABS firmware versions in hex
 DATE_FW_ECUS = [Ecu.fwdCamera]
 
 FW_QUERY_CONFIG = FwQueryConfig(
@@ -522,6 +533,40 @@ FW_QUERY_CONFIG = FwQueryConfig(
 )
 
 FW_VERSIONS = {
+  CAR.AZERA_6TH_GEN: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IG__ SCC F-CU-      1.00 1.00 99110-G8100         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.02 56310G8510\x00 4IGSC103',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00IG  MFC  AT MES LHD 1.00 1.04 99211-G8100 200511',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U912\x00\x00\x00\x00\x00\x00SIG0M35MH0\xa4 |.',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x81641KA051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
+  CAR.AZERA_HEV_6TH_GEN: {
+    (Ecu.fwdCamera, 0x7C4, None): [
+      b'\xf1\x00IGH MFC  AT KOR LHD 1.00 1.02 99211-G8100 191029',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00IG  MDPS C 1.00 1.00 56310M9600\x00 4IHSC100',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00IGhe SCC FHCUP      1.00 1.00 99110-M9100         ',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x006T7N0_C2\x00\x006T7VA051\x00\x00TIGSH24KA1\xc7\x85\xe2`',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H590051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.HYUNDAI_GENESIS: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00DH LKAS 1.1 -150210',
@@ -576,11 +621,13 @@ FW_VERSIONS = {
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2510 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2560 4APHC101',
       b'\xf1\x00AE  MDPS C 1.00 1.01 56310G2510\x00 4APHC101',
+      b'\xf1\x00AE  MDPS C 1.00 1.01 56310/G2310 4APHC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT EUR RHD 1.00 1.01 95740-G2600 190819',
       b'\xf1\x00AEP MFC  AT USA LHD 1.00 1.00 95740-G2700 201027',
+      b'\xf1\x00AEP MFC  AT EUR LHD 1.00 1.01 95740-G2600 190819',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x816H6F6051\x00\x00\x00\x00\x00\x00\x00\x00',
@@ -593,6 +640,7 @@ FW_VERSIONS = {
       b'\xf1\x816U3J9051\x00\x00\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL0\x00\x00\x00\x00',
       b'\xf1\x006U3H1_C2\x00\x006U3J9051\x00\x00PAE0G16NL2\xad\xeb\xabt',
+      b'\xf1\x006U3H1_C2\x00\x006U3J8051\x00\x00PAETG16UL0\x00\x00\x00\x00',
     ],
   },
   CAR.IONIQ_EV_2020: {
@@ -916,6 +964,7 @@ FW_VERSIONS = {
       b'\xf1\x00TM ESC \x04 102!\x04\x05 58910-S2GA0',
       b'\xf1\x00TM ESC \x04 101 \x08\x04 58910-S2GA0',
       b'\xf1\x00TM ESC \x02 103"\x07\x08 58910-S2GA0',
+      b'\xf1\x00TM ESC   103!\x030 58910-S1MA0',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_L50',
@@ -929,12 +978,15 @@ FW_VERSIONS = {
       b'\xf1\x81HM6M2_0a0_G00',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x81HM6M1_0a0_J10',
       b'\xf1\x8739101-2STN8\xf1\x81HM6M1_0a0_M00',
+      b'\xf1\x87           \xf1\x81           ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56370-S2AA0 0B19',
       b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1AB0 4TSDC101',
+      b'\xf1\x00TM  MDPS C 1.00 1.01 56310-S1EB0 4TSDC101',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00TM  MFC  AT MES LHD 1.00 1.05 99211-S1500 220126',
       b'\xf1\x00TMA MFC  AT MEX LHD 1.00 1.01 99211-S2500 210205',
       b'\xf1\x00TMA MFC  AT USA LHD 1.00 1.00 99211-S2500 200720',
       b'\xf1\x00TM  MFC  AT EUR LHD 1.00 1.03 99211-S1500 210224',
@@ -988,20 +1040,45 @@ FW_VERSIONS = {
   CAR.SANTA_FE_PHEV_2022: {
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x8799110CL500\xf1\x00TMhe SCC FHCUP      1.00 1.00 99110-CL500         ',
+      b'\xf1\x00TMhe SCC FHCUP      1.00 1.01 99110-CL500         ',
     ],
     (Ecu.eps, 0x7d4, None): [
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLAC0 4TSHC102',
       b'\xf1\x00TM  MDPS C 1.00 1.02 56310-CLEC0 4TSHC102',
+      b'\xf1\x00TM  MDPS C 1.00 1.02 56310CLEC0\x00 4TSHC102',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.03 99211-S1500 210224',
+      b'\xf1\x00TMP MFC  AT USA LHD 1.00 1.06 99211-S1500 220727',
     ],
     (Ecu.transmission, 0x7e1, None): [
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA0o\x88^\xbe',
       b'\xf1\x8795441-3D121\x00\xf1\x81E16\x00\x00\x00\x00\x00\x00\x00\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TTM2P16SA1\x0b\xc5\x0f\xea',
     ],
     (Ecu.engine, 0x7e0, None): [
       b'\xf1\x87391312MTF0',
+      b'\xf1\x87391312MTF1',
+    ],
+  },
+  CAR.CUSTIN_1ST_GEN: {
+    (Ecu.abs, 0x7d1, None): [
+      b'\xf1\x00KU ESC \x01 101!\x02\x03 58910-O3200',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00KU__ SCC F-CUP      1.00 1.01 99110-O3000         ',
+    ],
+    (Ecu.eps, 0x7d4, None): [
+      b'\xf1\x00KU  MDPS C 1.00 1.01 56310/O3100 4KUCC101',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00KU2 MFC  AT CHN LHD 1.00 1.02 99211-O3000 220923',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x87391212MEC0',
+    ],
+    (Ecu.transmission, 0x7e1, None): [
+      b'\xf1\x00bcsh8p54  U928\x00\x00\x00\x00\x00\x00SKU0T15KB2\x92U\xf9M',
     ],
   },
   CAR.KIA_STINGER: {
@@ -1329,16 +1406,19 @@ FW_VERSIONS = {
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x8799110L2100\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
       b'\xf1\x00DL3_ SCC F-CUP      1.00 1.03 99110-L2100         ',
+      b'\xf1\x00DL3_ SCC FHCUP      1.00 1.03 99110-L2100         ',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x8756310-L3110\xf1\000DL3 MDPS C 1.00 1.01 56310-L3110 4DLAC101',
       b'\xf1\x8756310-L3220\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
       b'\xf1\x8757700-L3000\xf1\x00DL3 MDPS R 1.00 1.02 57700-L3000 4DLAP102',
       b'\xf1\x00DL3 MDPS C 1.00 1.01 56310-L3220 4DLAC101',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L2220 4DLDC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.03 99210-L3000 200915',
       b'\xf1\x00DL3 MFC  AT USA LHD 1.00 1.04 99210-L3000 210208',
+      b'\xf1\x00DL3 MFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.abs, 0x7D1, None): [
       b'\xf1\000DL ESC \006 101 \004\002 58910-L3200',
@@ -1346,11 +1426,13 @@ FW_VERSIONS = {
       b'\xf1\x8758910-L3800\xf1\x00DL ESC \t 101 \x07\x02 58910-L3800',
       b'\xf1\x8758910-L3600\xf1\x00DL ESC \x03 100 \x08\x02 58910-L3600',
       b'\xf1\x00DL ESC \t 100 \x06\x02 58910-L3800',
+      b'\xf1\x00DL ESC \x01 104 \x07\x12 58910-L2200',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391212MKT0',
       b'\xf1\x87391212MKV0',
       b'\xf1\x870\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf1\x82DLDWN5TMDCXXXJ1B',
+      b'\xf1\x81HM6M2_0a0_DQ0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\000bcsh8p54  U913\000\000\000\000\000\000TDL2T16NB1ia\v\xb8',
@@ -1359,6 +1441,7 @@ FW_VERSIONS = {
       b'\xf1\x87SCMSAA8572454GK1\x87x\x87\x88Vf\x86hgwvwvwwgvwwgT?\xfb\xff\x97fo\xffH\xb8\xf1\x81U913\x00\x00\x00\x00\x00\x00\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
       b'\xf1\x87954A02N300\x00\x00\x00\x00\x00\xf1\x81T02730A1  \xf1\x00T02601BL  T02730A1  WDL3T25XXX730NS2b\x1f\xb8%',
       b'\xf1\x00bcsh8p54  U913\x00\x00\x00\x00\x00\x00TDL4T16NB05\x94t\x18',
+      b'\xf1\x00HT6TA261BLHT6TAB00A1SDL0C20KS0\x00\x00\x00\x00\x00\x00\\\x9f\xa5\x15',
     ],
   },
   CAR.KIA_K5_HEV_2020: {
@@ -1367,15 +1450,18 @@ FW_VERSIONS = {
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7000 4DLHC102',
+      b'\xf1\x00DL3 MDPS C 1.00 1.02 56310-L7220 4DLHC102',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.02 99210-L2000 200309',
+      b'\xf1\x00DL3HMFC  AT KOR LHD 1.00 1.04 99210-L2000 210527',
     ],
     (Ecu.engine, 0x7E0, None): [
       b'\xf1\x87391162JLA0',
     ],
     (Ecu.transmission, 0x7E1, None): [
       b'\xf1\x00PSBG2323  E08\x00\x00\x00\x00\x00\x00\x00TDL2H20KA2\xe3\xc6cz',
+      b'\xf1\x00PSBG2333  E16\x00\x00\x00\x00\x00\x00\x00TDL2H20KA5T\xf2\xc9\xc2',
     ],
   },
   CAR.KONA_EV: {
@@ -1411,10 +1497,7 @@ FW_VERSIONS = {
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x04 101 \x11\x13 58520-K4010',
       b'\xf1\x8758520-K4010\xf1\x00OS IEB \x03 101 \x11\x13 58520-K4010',
       b'\xf1\x00OS IEB \r 102"\x05\x16 58520-K4010',
-      # TODO: these return from the MULTI request, above return from LONG
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xee\xff\xe0\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xffP\xf5\xff\xfd\x00\x00\x00\x00\xfc\x00\x01',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xdb\x00\x00\x00\x00\xff\xb1\xff\xd9\xff\xd2\x00\xc0\xc0\xfc\xd5\xfc\x00\x00U\x10\xff\xd6\xf5\x00\x06\x00\x00\x00\x14\xfd\x00\x04',
-      b'\x01\x04\x7f\xff\xff\xf8\xff\xff\x00\x00\x01\xd3\x00\x00\x00\x00\xff\xb7\xff\xf4\xff\xd9\x00\xc0',
+      b'\xf1\x00OS IEB \x02 102"\x05\x16 58520-K4010',
     ],
     (Ecu.fwdCamera, 0x7C4, None): [
       b'\xf1\x00OSP LKA  AT CND LHD 1.00 1.02 99211-J9110 802',
@@ -1422,12 +1505,14 @@ FW_VERSIONS = {
       b'\xf1\x00OSP LKA  AT AUS RHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR LHD 1.00 1.04 99211-J9200 904',
       b'\xf1\x00OSP LKA  AT EUR RHD 1.00 1.04 99211-J9200 904',
+      b'\xf1\x00OSP LKA  AT USA LHD 1.00 1.04 99211-J9200 904',
     ],
     (Ecu.eps, 0x7D4, None): [
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4260\x00 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4970 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310/K4271 4OEPC102',
       b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4971\x00 4OEPC102',
+      b'\xf1\x00OSP MDPS C 1.00 1.02 56310K4261\x00 4OEPC102',
     ],
     (Ecu.fwdRadar, 0x7D0, None): [
       b'\xf1\x00YB__ FCA -----      1.00 1.01 99110-K4500      \x00\x00\x00',
@@ -1597,6 +1682,17 @@ FW_VERSIONS = {
       b'\xf1\x00JFP LKAS AT EUR LHD 1.00 1.03 95895-A8100 160711',
     ],
   },
+  CAR.KIA_OPTIMA_H_G4_FL: {
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00JFhe SCC FHCUP      1.00 1.01 99110-A8500         ',
+    ],
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00JFH MFC  AT KOR LHD 1.00 1.01 95895-A8200 180323',
+    ],
+    (Ecu.engine, 0x7e0, None): [
+      b'\xf1\x816H6D1051\x00\x00\x00\x00\x00\x00\x00\x00',
+    ],
+  },
   CAR.ELANTRA: {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00PD  LKAS AT USA LHD 1.01 1.01 95740-G3100 A54',
@@ -1809,6 +1905,7 @@ FW_VERSIONS = {
       b'\xf1\x00CE__ RDR -----      1.00 1.01 99110-KL000         ',
     ],
     (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00CE  MFC  AT EUR LHD 1.00 1.03 99211-KL000 221011',
       b'\xf1\x00CE  MFC  AT USA LHD 1.00 1.04 99211-KL000 221213',
     ],
   },
@@ -1859,6 +1956,7 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1030 662',
       b'\xf1\x00NQ5 FR_CMR AT USA LHD 1.00 1.00 99211-P1040 663',
+      b'\xf1\x00NQ5 FR_CMR AT AUS RHD 1.00 1.00 99211-P1040 663',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00NQ5__               1.00 1.02 99110-P1000         ',
@@ -1921,10 +2019,12 @@ FW_VERSIONS = {
     (Ecu.fwdCamera, 0x7c4, None): [
       b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.06 99210-R0000 220221',
       b'\xf1\x00KA4CMFC  AT CHN LHD 1.00 1.01 99211-I4000 210525',
+      b'\xf1\x00KA4 MFC  AT USA LHD 1.00 1.00 99210-R0100 230105',
     ],
     (Ecu.fwdRadar, 0x7d0, None): [
       b'\xf1\x00KA4_ SCC FHCUP      1.00 1.03 99110-R0000         ',
       b'\xf1\x00KA4c SCC FHCUP      1.00 1.01 99110-I4000         ',
+      b'\xf1\x00KA4_ SCC FHCUP      1.00 1.00 99110-R0100         ',
     ],
   },
   CAR.KIA_SORENTO_HEV_4TH_GEN: {
@@ -1936,32 +2036,37 @@ FW_VERSIONS = {
       b'\xf1\x00MQhe SCC FHCUP      1.00 1.07 99110-P4000         ',
     ],
   },
+  CAR.KIA_K8_HEV_1ST_GEN: {
+    (Ecu.fwdCamera, 0x7c4, None): [
+      b'\xf1\x00GL3HMFC  AT KOR LHD 1.00 1.03 99211-L8000 210907',
+    ],
+    (Ecu.fwdRadar, 0x7d0, None): [
+      b'\xf1\x00GL3_ RDR -----      1.00 1.02 99110-L8000         ',
+    ],
+  },
 }
 
 CHECKSUM = {
   "crc8": [CAR.SANTA_FE, CAR.SONATA, CAR.PALISADE, CAR.KIA_SELTOS, CAR.ELANTRA_2021, CAR.ELANTRA_HEV_2021,
-           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.KIA_K5_HEV_2020],
+           CAR.SONATA_HYBRID, CAR.SANTA_FE_2022, CAR.KIA_K5_2021, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022,
+           CAR.KIA_K5_HEV_2020, CAR.CUSTIN_1ST_GEN],
   "6B": [CAR.KIA_SORENTO, CAR.HYUNDAI_GENESIS],
 }
 
 CAN_GEARS = {
-  # which message has the gear
+  # which message has the gear. hybrid and EV use ELECT_GEAR
   "use_cluster_gears": {CAR.ELANTRA, CAR.KONA},
   "use_tcu_gears": {CAR.KIA_OPTIMA_G4, CAR.KIA_OPTIMA_G4_FL, CAR.SONATA_LF, CAR.VELOSTER, CAR.TUCSON},
-  "use_elect_gears": {CAR.KIA_NIRO_EV, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.KIA_OPTIMA_H, CAR.IONIQ_EV_LTD,
-                      CAR.KONA_EV, CAR.IONIQ, CAR.IONIQ_EV_2020, CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.SONATA_HYBRID,
-                      CAR.KONA_HEV, CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019,
-                      CAR.KONA_EV_2022, CAR.KIA_K5_HEV_2020},
 }
 
 CANFD_CAR = {CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.TUCSON_4TH_GEN, CAR.TUCSON_HYBRID_4TH_GEN, CAR.KIA_SPORTAGE_HYBRID_5TH_GEN,
              CAR.SANTA_CRUZ_1ST_GEN, CAR.KIA_SPORTAGE_5TH_GEN, CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN,
              CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.KIA_NIRO_HEV_2ND_GEN, CAR.KIA_NIRO_EV_2ND_GEN,
-             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN}
+             CAR.GENESIS_GV80, CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.KIA_K8_HEV_1ST_GEN}
 
 # The radar does SCC on these cars when HDA I, rather than the camera
 CANFD_RADAR_SCC_CAR = {CAR.GENESIS_GV70_1ST_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_SORENTO_4TH_GEN, CAR.GENESIS_GV80,
-                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KONA_EV_2ND_GEN, CAR.IONIQ_6}
+                       CAR.KIA_CARNIVAL_4TH_GEN, CAR.KIA_SORENTO_HEV_4TH_GEN}
 
 # The camera does SCC on these cars, rather than the radar
 CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
@@ -1970,22 +2075,26 @@ CAMERA_SCC_CAR = {CAR.KONA_EV_2022, }
 HYBRID_CAR = {CAR.IONIQ_PHEV, CAR.ELANTRA_HEV_2021, CAR.KIA_NIRO_PHEV, CAR.KIA_NIRO_HEV_2021, CAR.SONATA_HYBRID, CAR.KONA_HEV, CAR.IONIQ,
               CAR.IONIQ_HEV_2022, CAR.SANTA_FE_HEV_2022, CAR.SANTA_FE_PHEV_2022, CAR.IONIQ_PHEV_2019, CAR.TUCSON_HYBRID_4TH_GEN,
               CAR.KIA_SPORTAGE_HYBRID_5TH_GEN, CAR.KIA_SORENTO_PHEV_4TH_GEN, CAR.KIA_K5_HEV_2020, CAR.KIA_NIRO_HEV_2ND_GEN,
-              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H}
+              CAR.KIA_SORENTO_HEV_4TH_GEN, CAR.KIA_OPTIMA_H, CAR.KIA_OPTIMA_H_G4_FL, CAR.KIA_K8_HEV_1ST_GEN,
+              CAR.AZERA_HEV_6TH_GEN}
 
 EV_CAR = {CAR.IONIQ_EV_2020, CAR.IONIQ_EV_LTD, CAR.KONA_EV, CAR.KIA_NIRO_EV, CAR.KIA_NIRO_EV_2ND_GEN, CAR.KONA_EV_2022,
           CAR.KIA_EV6, CAR.IONIQ_5, CAR.IONIQ_6, CAR.GENESIS_GV60_EV_1ST_GEN, CAR.KONA_EV_2ND_GEN}
 
 # these cars require a special panda safety mode due to missing counters and checksums in the messages
-LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.IONIQ_PHEV, CAR.IONIQ, CAR.KONA_EV, CAR.KIA_OPTIMA_G4,
-                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
+LEGACY_SAFETY_MODE_CAR = {CAR.HYUNDAI_GENESIS, CAR.IONIQ_EV_LTD, CAR.KIA_OPTIMA_G4,
+                          CAR.VELOSTER, CAR.GENESIS_G70, CAR.GENESIS_G80, CAR.KIA_CEED, CAR.ELANTRA, CAR.IONIQ_HEV_2022,
                           CAR.KIA_OPTIMA_H}
 
 # these cars have not been verified to work with longitudinal yet - radar disable, sending correct messages, etc.
-UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL}
+UNSUPPORTED_LONGITUDINAL_CAR = LEGACY_SAFETY_MODE_CAR | {CAR.KIA_NIRO_PHEV, CAR.KIA_SORENTO, CAR.SONATA_LF, CAR.KIA_OPTIMA_G4_FL,
+                                                         CAR.KIA_OPTIMA_H_G4_FL}
 
 # If 0x500 is present on bus 1 it probably has a Mando radar outputting radar points.
 # If no points are outputted by default it might be possible to turn it on using  selfdrive/debug/hyundai_enable_radar_points.py
 DBC = {
+  CAR.AZERA_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
+  CAR.AZERA_HEV_6TH_GEN: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_2021: dbc_dict('hyundai_kia_generic', None),
   CAR.ELANTRA_HEV_2021: dbc_dict('hyundai_kia_generic', None),
@@ -2009,6 +2118,7 @@ DBC = {
   CAR.KIA_OPTIMA_G4: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_OPTIMA_H: dbc_dict('hyundai_kia_generic', None),
+  CAR.KIA_OPTIMA_H_G4_FL: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SELTOS: dbc_dict('hyundai_kia_generic', None),
   CAR.KIA_SORENTO: dbc_dict('hyundai_kia_generic', None), # Has 0x5XX messages, but different format
   CAR.KIA_STINGER: dbc_dict('hyundai_kia_generic', None),
@@ -2046,4 +2156,6 @@ DBC = {
   CAR.KIA_CARNIVAL_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KIA_SORENTO_HEV_4TH_GEN: dbc_dict('hyundai_canfd', None),
   CAR.KONA_EV_2ND_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.KIA_K8_HEV_1ST_GEN: dbc_dict('hyundai_canfd', None),
+  CAR.CUSTIN_1ST_GEN: dbc_dict('hyundai_kia_generic', None),
 }

selfdrive/car/mock/interface.py

@@ -1,61 +1,35 @@
 #!/usr/bin/env python3
 from cereal import car
-from openpilot.system.swaglog import cloudlog
 import cereal.messaging as messaging
-from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 
-
-# mocked car interface to work with chffrplus
+# mocked car interface for dashcam mode
 class CarInterface(CarInterfaceBase):
   def __init__(self, CP, CarController, CarState):
     super().__init__(CP, CarController, CarState)
 
-    cloudlog.debug("Using Mock Car Interface")
-
-    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
-
     self.speed = 0.
-    self.prev_speed = 0.
+    self.sm = messaging.SubMaster(['gpsLocation', 'gpsLocationExternal'])
 
   @staticmethod
   def _get_params(ret, candidate, fingerprint, car_fw, experimental_long, docs):
     ret.carName = "mock"
-    ret.safetyConfigs = [get_safety_config(car.CarParams.SafetyModel.noOutput)]
     ret.mass = 1700.
     ret.wheelbase = 2.70
     ret.centerToFront = ret.wheelbase * 0.5
-    ret.steerRatio = 13.  # reasonable
-
+    ret.steerRatio = 13.
     return ret
 
-  # returns a car.CarState
   def _update(self, c):
     self.sm.update(0)
     gps_sock = 'gpsLocationExternal' if self.sm.rcv_frame['gpsLocationExternal'] > 1 else 'gpsLocation'
-    if self.sm.updated[gps_sock]:
-      self.prev_speed = self.speed
-      self.speed = self.sm[gps_sock].speed
 
-    # create message
     ret = car.CarState.new_message()
-
-    # speeds
-    ret.vEgo = self.speed
-    ret.vEgoRaw = self.speed
-
-    ret.aEgo = self.speed - self.prev_speed
-    ret.brakePressed = ret.aEgo < -0.5
-
-    ret.standstill = self.speed < 0.01
-    ret.wheelSpeeds.fl = self.speed
-    ret.wheelSpeeds.fr = self.speed
-    ret.wheelSpeeds.rl = self.speed
-    ret.wheelSpeeds.rr = self.speed
+    ret.vEgo = self.sm[gps_sock].speed
+    ret.vEgoRaw = self.sm[gps_sock].speed
 
     return ret
 
   def apply(self, c, now_nanos):
-    # in mock no carcontrols
     actuators = car.CarControl.Actuators.new_message()
     return actuators, []

selfdrive/car/mock/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/nissan/interface.py

@@ -1,5 +1,5 @@
-#!/usr/bin/env python3
 from cereal import car
+from panda import Panda
 from openpilot.selfdrive.car import get_safety_config
 from openpilot.selfdrive.car.interfaces import CarInterfaceBase
 from openpilot.selfdrive.car.nissan.values import CAR
@@ -31,7 +31,7 @@ class CarInterface(CarInterfaceBase):
       ret.centerToFront = ret.wheelbase * 0.44
     elif candidate == CAR.ALTIMA:
       # Altima has EPS on C-CAN unlike the others that have it on V-CAN
-      ret.safetyConfigs[0].safetyParam = 1 # EPS is on alternate bus
+      ret.safetyConfigs[0].safetyParam |= Panda.FLAG_NISSAN_ALT_EPS_BUS
       ret.mass = 1492
       ret.wheelbase = 2.824
       ret.centerToFront = ret.wheelbase * 0.44

selfdrive/car/nissan/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):

selfdrive/car/subaru/carcontroller.py

@@ -1,8 +1,13 @@
 from openpilot.common.numpy_fast import clip, interp
 from opendbc.can.packer import CANPacker
-from openpilot.selfdrive.car import apply_driver_steer_torque_limits
+from openpilot.selfdrive.car import apply_driver_steer_torque_limits, common_fault_avoidance
 from openpilot.selfdrive.car.subaru import subarucan
-from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, CanBus, CarControllerParams, SubaruFlags
+from openpilot.selfdrive.car.subaru.values import DBC, GLOBAL_GEN2, PREGLOBAL_CARS, HYBRID_CARS, STEER_RATE_LIMITED, CanBus, CarControllerParams, SubaruFlags
+
+# FIXME: These limits aren't exact. The real limit is more than likely over a larger time period and
+# involves the total steering angle change rather than rate, but these limits work well for now
+MAX_STEER_RATE = 25  # deg/s
+MAX_STEER_RATE_FRAMES = 7  # tx control frames needed before torque can be cut
 
 
 class CarController:
@@ -12,6 +17,7 @@ class CarController:
     self.frame = 0
 
     self.cruise_button_prev = 0
+    self.steer_rate_counter = 0
 
     self.p = CarControllerParams(CP)
     self.packer = CANPacker(DBC[CP.carFingerprint]['pt'])
@@ -38,7 +44,15 @@ class CarController:
       if self.CP.carFingerprint in PREGLOBAL_CARS:
         can_sends.append(subarucan.create_preglobal_steering_control(self.packer, self.frame // self.p.STEER_STEP, apply_steer, CC.latActive))
       else:
-        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, CC.latActive))
+        apply_steer_req = CC.latActive
+
+        if self.CP.carFingerprint in STEER_RATE_LIMITED:
+          # Steering rate fault prevention
+          self.steer_rate_counter, apply_steer_req = \
+            common_fault_avoidance(abs(CS.out.steeringRateDeg) > MAX_STEER_RATE, apply_steer_req,
+                                  self.steer_rate_counter, MAX_STEER_RATE_FRAMES)
+
+        can_sends.append(subarucan.create_steering_control(self.packer, apply_steer, apply_steer_req))
 
       self.apply_steer_last = apply_steer
 
@@ -80,29 +94,30 @@ class CarController:
 
     else:
       if self.frame % 10 == 0:
-        can_sends.append(subarucan.create_es_dashstatus(self.packer, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
+        can_sends.append(subarucan.create_es_dashstatus(self.packer, self.frame // 10, CS.es_dashstatus_msg, CC.enabled, self.CP.openpilotLongitudinalControl,
                                                         CC.longActive, hud_control.leadVisible))
 
-        can_sends.append(subarucan.create_es_lkas_state(self.packer, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
+        can_sends.append(subarucan.create_es_lkas_state(self.packer, self.frame // 10, CS.es_lkas_state_msg, CC.enabled, hud_control.visualAlert,
                                                         hud_control.leftLaneVisible, hud_control.rightLaneVisible,
                                                         hud_control.leftLaneDepart, hud_control.rightLaneDepart))
 
         if self.CP.flags & SubaruFlags.SEND_INFOTAINMENT:
-          can_sends.append(subarucan.create_es_infotainment(self.packer, CS.es_infotainment_msg, hud_control.visualAlert))
+          can_sends.append(subarucan.create_es_infotainment(self.packer, self.frame // 10, CS.es_infotainment_msg, hud_control.visualAlert))
 
       if self.CP.openpilotLongitudinalControl:
         if self.frame % 5 == 0:
-          can_sends.append(subarucan.create_es_status(self.packer, CS.es_status_msg, self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
+          can_sends.append(subarucan.create_es_status(self.packer, self.frame // 5, CS.es_status_msg,
+                                                      self.CP.openpilotLongitudinalControl, CC.longActive, cruise_rpm))
 
-          can_sends.append(subarucan.create_es_brake(self.packer, CS.es_brake_msg, CC.enabled, cruise_brake))
+          can_sends.append(subarucan.create_es_brake(self.packer, self.frame // 5, CS.es_brake_msg, CC.enabled, cruise_brake))
 
-          can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, 0, pcm_cancel_cmd,
+          can_sends.append(subarucan.create_es_distance(self.packer, self.frame // 5, CS.es_distance_msg, 0, pcm_cancel_cmd,
                                                         self.CP.openpilotLongitudinalControl, cruise_brake > 0, cruise_throttle))
       else:
         if pcm_cancel_cmd:
           if self.CP.carFingerprint not in HYBRID_CARS:
             bus = CanBus.alt if self.CP.carFingerprint in GLOBAL_GEN2 else CanBus.main
-            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg, bus, pcm_cancel_cmd))
+            can_sends.append(subarucan.create_es_distance(self.packer, CS.es_distance_msg["COUNTER"] + 1, CS.es_distance_msg, bus, pcm_cancel_cmd))
 
     new_actuators = actuators.copy()
     new_actuators.steer = self.apply_steer_last / self.p.STEER_MAX

selfdrive/car/subaru/interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from cereal import car
 from panda import Panda
 from openpilot.selfdrive.car import get_safety_config

selfdrive/car/subaru/radar_interface.py

@@ -1,4 +1,3 @@
-#!/usr/bin/env python3
 from openpilot.selfdrive.car.interfaces import RadarInterfaceBase
 
 class RadarInterface(RadarInterfaceBase):